Systems and methods for robotic path planning

ABSTRACT

Systems and methods for robotic path planning are disclosed. In some implementations of the present disclosure, a robot can generate a cost map associated with an environment of the robot. The cost map can comprise a plurality of pixels each corresponding to a location in the environment, where each pixel can have an associated cost. The robot can further generate a plurality of masks having projected path portions for the travel of the robot within the environment, where each mask comprises a plurality of mask pixels that correspond to locations in the environment. The robot can then determine a mask cost associated with each mask based at least in part on the cost map and select a mask based at least in part on the mask cost. Based on the projected path portions within the selected mask, the robot can navigate a space.

COPYRIGHT

A portion of the disclosure of this patent document contains materialthat is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent files or records, but otherwise reserves all copyrightrights whatsoever.

BACKGROUND Technological Field

The present application relates generally to robotics, and morespecifically to systems and methods for robotic path-planning.

Background

Currently, some conventional mobile robots can be configured to go fromone location to another, destination location. Such mobile robots canfollow a set path and/or make adjustments along the set path whiletraveling to the destination location.

Some conventional mobile robots do not have a particular destinationlocation. Rather, the mobile robots can perform a task in a space. Forexample, some household vacuums are designed to clean a space, but maynot have a particular destination location.

However, in certain dynamic environments, it can be desirable for mobilerobots to both perform a task in a space and travel from one location toa destination location. Conventional mobile robots can have troubleoptimizing both behaviors. Accordingly, there is a need in the art forimproved systems and methods for robotic path planning.

SUMMARY

The foregoing needs are satisfied by the present disclosure, whichprovides for, inter alia, systems and methods for robotic path planning.In some implementations, a robot can determine the cost and/or benefitof travelling a plurality of projected paths before selecting one thatthe robot will travel.

Example implementations described herein have innovative features, nosingle one of which is indispensable or solely responsible for theirdesirable attributes. Without limiting the scope of the claims, some ofthe advantageous features will now be summarized.

In a first aspect, a method for path planning by a robot is disclosed.In one exemplary implementation, the method includes: generating a costmap associated with an environment of the robot, the cost map comprisinga plurality of cost map pixels, each cost map pixel of the pluralitycorresponding to a respective location in the environment and each costmap pixel of the plurality having an associated cost; generating aplurality of masks, each mask of the plurality having projected pathportions for the travel of the robot within the environment, each maskof the plurality comprising a plurality of mask pixels, wherein eachmask pixel of the plurality corresponds to a location in theenvironment; determining if a recovery condition applies based at leastin part on the position of the robot relative to one or more obstaclesin the environment, and, if the recovery condition applies, modifying atleast one of (1) the cost map and/or (2) one or more of the plurality ofmasks; determining a mask cost associated with each mask of theplurality based at least in part on the generated cost map; selecting afirst mask of the plurality of masks based at least in part on thedetermined mask cost of the first mask; determining actuator commandsfor the robot to travel the projected path portions included in thefirst mask; and actuating an actuator of the robot based at least inpart on the determined actuator commands.

In one variant, determining the mask cost further comprises: forming atleast one matrix comprising one or more masks; and taking a dot productbetween the at least one matrix and the generated cost map.

In another variant, the method further comprising rotating the cost mapand each mask so that the cost map and each mask are orientatedsubstantially similarly relative to the robot. In another variant, therotating causes the generated cost map and each mask of the plurality ofmasks to be robot centric.

In another variant, the method further comprises generating a secondcost map comprising a plurality of second cost map pixels, wherein eachsecond cost map pixel corresponds to a respective location in theenvironment and each second cost map pixel of the plurality includes avector indicative at least in part of an orientation of the robot forthe shortest path from a present location of the robot and therespective location associated with each second cost map pixel.

In another variant, determining the mask cost associated with each maskof the plurality of masks is further based at least in part on thegenerated second cost map. In another variant, the recovery conditionincludes determining a motion restriction on the robot based at least inpart on a presence of an obstacle. In another variant, the methodfurther comprises implementing a cost penalty each time the first maskis selected, wherein the implemented cost penalty makes it less likelythat the first mask will be selected again.

In another variant, a path portion of the projected path portionscomprises a trajectory of the robot over time. In another variant, thepath portion of the projected path portions comprises a cleaning path ofthe robot.

In another exemplary implementation, the method for path planning by arobot comprises: generating a cost map associated with an environment ofthe robot, the cost map comprising a plurality of cost map pixels, eachcost map pixel of the plurality corresponding to a location in theenvironment and each cost map pixel of the plurality having anassociated cost based at least in part on a desire to clean therespective location; generating a plurality of masks having projectedtrajectories for the travel from the pose of the robot within theenvironment, each mask of the plurality comprising a plurality of maskpixels, wherein each mask pixel of the plurality corresponds to arespective location in the environment for which the robot will cleanshould the robot select the mask; determining a mask cost associatedwith each mask based at least in part on the generated cost map; andselecting a first mask of the plurality of masks based at least in parton the mask cost of the first mask.

In a one variant, the method comprises actuating one or more actuatorsof the robot to clean a first projected trajectory included in the firstmask. In another variant, the method further comprises adjusting thegenerated cost map in response to user feedback.

In another variant, generating the plurality of masks further comprises:receiving a footprint of the robot; and generating the plurality ofmasks based at least in part on an avoidance of collisions betweenobstacles in the environment and the received footprint of the robot.

In another variant, generating the plurality of masks further comprises:receiving one or more physical attributes of the robot, the one or morephysical attributes restricting an ability of the robot to maneuver; andgenerating the plurality of masks based at least in part on the receivedone or more physical attributes.

In a second aspect, a robot is disclosed. In one exemplaryimplementation, the robot comprises: one or more sensors configured togenerate sensor data about an environment of the robot; one or moreactuators configured to propel travel of the robot; a processorapparatus configured to: generate a map of the environment based atleast in part on the sensor data generated by the one or more sensors;generate a cost map associated with at least a portion of the generatedmap of the environment, the generated cost map comprising a plurality ofcost map pixels wherein each cost map pixel of the plurality correspondsto a respective location in the environment and each cost map pixel ofthe plurality has an associated cost; generate a plurality of masks,each mask of the plurality having projected path portions for the travelof the robot within the environment, each mask of the pluralitycomprising a plurality of mask pixels wherein each mask pixel of theplurality corresponds to a respective location in the environment;determine if a recovery condition applies based at least in part on theposition of the robot relative to one or more obstacles in theenvironment, and, if the recovery condition applies, modifying at leastone of (1) the cost map and/or (2) one or more of the plurality ofmasks; determine a mask cost associated with at least one mask of theplurality based at least in part on the generated cost map; select afirst mask of the plurality of masks based at least in part on the maskcost of the first mask; and actuate the one or more actuators based atleast in part on the first mask.

In one variant, the robot further comprises one or more brush actuatorsthat are configured to operate a cleaning brush of the robot. In anothervariant, the processor apparatus is further configured to actuate theone or more brush actuators based at least in part on the generated costmap. In another variant, the processor apparatus is further configuredto update the mask cost associated with each mask of the plurality basedat least in part on the robot encountering an obstacle in theenvironment. In another variant, the processor apparatus is furtherconfigured to implement a learning process that identifies one or morerecovery conditions.

In another exemplary implementation, the robot comprises: one or moresensors configured to generate sensor data about an environment of therobot; one or more actuators configured to propel travel of the robot; amapping unit configured to generate a map of the environment based atleast in part on the sensor data generated by the one or more sensors;generate a cost map associated with at least a portion of the generatedmap of the environment, the generated cost map comprising a plurality ofcost map pixels wherein each cost map pixel of the plurality correspondsto a respective location in the environment and each cost map pixel ofthe plurality has an associated cost; generate a plurality of masks,each mask of the plurality having projected path portions for the travelof the robot within the environment, each mask of the pluralitycomprising a plurality of mask pixels wherein each mask pixel of theplurality corresponds to a respective location in the environment;determine if a recovery condition applies based at least in part on theposition of the robot relative to one or more obstacles in theenvironment, and, if the recovery condition applies, modifying at leastone of (1) the cost map and/or (2) one or more of the plurality ofmasks; determine a mask cost associated with at least one mask of theplurality based at least in part on the generated cost map; and select afirst mask of the plurality of masks based at least in part on the maskcost of the first mask; wherein: the one or more actuators actuate basedat least in part on the first mask.

In another exemplary implementation, the robot comprises: means forgenerating a map of an environment of the robot based at least in parton data; means for propelling travel of the robot; means for generatinga cost map associated with at least a portion of the generated map ofthe environment, the generated cost map comprising a plurality of costmap pixels wherein each cost map pixel of the plurality corresponds to arespective location in the environment and each cost map pixel of theplurality has an associated cost; means for generating a plurality ofmasks, each mask of the plurality having projected path portions for thetravel of the robot within the environment, each mask of the pluralitycomprising a plurality of mask pixels wherein each mask pixel of theplurality corresponds to a respective location in the environment; meansfor determining if a recovery condition applies based at least in parton a position of the robot relative to one or more obstacles in theenvironment, and, if the recovery condition applies, modifying at leastone of (1) the cost map and/or (2) one or more of the plurality ofmasks; means for determining a mask cost associated with each mask ofthe plurality based at least in part on the generated cost map; meansfor selecting a first mask of the plurality of masks based at least inpart on the mask cost of the first mask; and means for actuating themeans for propelling travel of the robot based at least in part on thefirst mask.

In a third aspect, a method for manufacturing a robot is disclosed. Inone exemplary implementation, the method for manufacturing comprises:attaching a module comprising a processor and one or more sensors;configuring the one or more sensors to generate a map of an environmentof the robot; configuring the processor to: generate a cost mapassociated with an environment of the robot, the cost map comprising aplurality of cost map pixels each corresponding to a location in theenvironment and each cost map pixel having an associated cost based atleast in part on a desire to clean the location; generate a plurality ofmasks having projected trajectories for the travel from the pose of therobot within the environment, each mask comprising a plurality of maskpixels wherein each mask pixel corresponds to a location in theenvironment for which the robot will clean should the robot select themask; determine a mask cost associated with each mask based at least inpart on the cost map; and selecting a first mask based at least in parton the mask cost of the first mask.

In a fourth aspect, a non-transitory computer-readable storage apparatusis disclosed. In one exemplary implementation, the non-transitorycomputer-readable storage apparatus has a plurality of instructionsstored thereon, the instructions being executable by a processingapparatus to operate a robot. The instructions configured to, whenexecuted by the processing apparatus, cause the processing apparatus to:generate a cost map associated with an environment of the robot, thecost map comprising a plurality of cost map pixels each corresponding toa location in the environment and each cost map pixel having anassociated cost; generate a plurality of masks having projected pathportions for the travel of the robot within the environment, each maskcomprising a plurality of mask pixels wherein each mask pixelcorresponds to a location in the environment; determine if a recoverycondition applies based at least in part on the position of the robotrelative to one or more obstacles in the environment, and, if therecovery condition applies, modifying at least one of (1) the cost mapand (2) one or more of the plurality of masks; determine a mask costassociated with each mask based at least in part on the cost map; selecta first mask based at least in part on the mask cost of the first mask;determine actuator commands for the robot to travel the projected pathportions included in the first mask; and actuate an actuator of therobot based at least in part on the actuator commands.

In another exemplary implementation, the non-transitorycomputer-readable storage apparatus has a plurality of instructionsstored thereon, the instructions being executable by a processingapparatus to operate a robot. The instructions configured to, whenexecuted by the processing apparatus, cause the processing apparatus to:generate a cost map associated with an environment of the robot, thecost map comprising a plurality of cost map pixels each corresponding toa location in the environment and each cost map pixel having anassociated cost based at least in part on a desire to clean thelocation; generate a plurality of masks having projected trajectoriesfor the travel from the pose of the robot within the environment, eachmask comprising a plurality of mask pixels wherein each mask pixelcorresponds to a location in the environment for which the robot willclean should the robot select the mask; determine a mask cost associatedwith each mask based at least in part on the cost map; and select afirst mask based at least in part on the mask cost of the first mask.

In a fifth aspect, a system for planning the path of a robot isdisclosed. In one exemplary implementation, the system includes: a robotcomprising one or more sensors configured to generate sensor data aboutan environment of the robot; a network communicatively coupled to therobot, the network configured to: generate a cost map associated with atleast a portion of the generated map of the environment, the generatedcost map comprising a plurality of cost map pixels wherein each cost mappixel of the plurality corresponds to a respective location in theenvironment and each cost map pixel of the plurality has an associatedcost; and an access point configured to provide user input through auser interface; wherein: the network further generates the cost mapbased on the user input.

In one variant, generation of the cost map utilizes a machine learningprocess.

These and other objects, features, and characteristics of the presentdisclosure, as well as the methods of operation and functions of therelated elements of structure and the combination of parts and economiesof manufacture, will become more apparent upon consideration of thefollowing description and the appended claims with reference to theaccompanying drawings, all of which form a part of this specification,wherein like reference numerals designate corresponding parts in thevarious figures. It is to be expressly understood, however, that thedrawings are for the purpose of illustration and description only andare not intended as a definition of the limits of the disclosure. Asused in the specification and in the claims, the singular form of “a”,“an”, and “the” include plural referents unless the context clearlydictates otherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosed aspects will hereinafter be described in conjunction withthe appended drawings, provided to illustrate and not to limit thedisclosed aspects, wherein like designations denote like elements.

FIG. 1A is a process flow diagram of an exemplary method for navigatinga robot in accordance with some implementations of this disclosure.

FIG. 1B is an overhead view of a robot travelling along a path in asection of an environment in accordance with some implementations ofthis disclosure.

FIG. 1C is an overhead view of a robot travelling along an altered pathportion in accordance to some implementations of this disclosure.

FIG. 2 is a functional block diagram of a robot in accordance with someprinciples of this disclosure.

FIG. 3 is a functional block diagram of a system, which includes a robotcommunicatively and/or operatively coupled to a network in accordancewith some implementations of this disclosure.

FIG. 4 is a process flow diagram of an exemplary method for operatingrobotic path planning of a robot in accordance with some implementationsof this disclosure.

FIG. 5A is an overhead view graphical representation of a cost map inaccordance to some implementations of this disclosure.

FIG. 5B is an overhead view graphical representation of a cost maphaving skirts around indicator in accordance to some implementations ofthis disclosure.

FIG. 6 is a top view of a cost map that is robot centric for a robot inaccordance to some implementations of this disclosure.

FIG. 7A is a top view diagram illustrating a robot footprint of robot inaccordance with some implementations of this disclosure.

FIG. 7B illustrates an elevated left side view of a robot with threewheels in accordance to some implementations of the present disclosure.

FIG. 7C illustrates an elevated right side view of a robot with threewheels in accordance to some implementations of the present disclosure.

FIG. 7D is a chart of controller characteristics over time in accordancewith principles of this disclosure.

FIG. 7E is a top view diagram of a robot following a series controllercharacteristics in accordance with some implementations of the presentdisclosure.

FIG. 8A includes path portion diagrams illustrating determined pathportions in accordance to some implementations of the presentdisclosure.

FIG. 8B is a graphical representation of a three-dimensional matrix ofpath portion diagrams in accordance to some implementations of thepresent disclosure.

FIG. 8C is an overhead diagram of a trajectory of a robot that wouldcause the robot to run into an obstacle and a trajectory of the robotthat would allow the robot to go around the obstacle in accordance tosome implementations of this disclosure.

FIG. 8D is an overhead diagram illustrating a discretized version of amap portion, wherein each point is a discrete location in accordancewith implementations of this disclosure.

FIG. 8E is an overhead diagram showing the shortest non-colliding pathfrom a section of discretized points illustrated in FIG. 8D inaccordance to some implementations of this disclosure.

FIG. 8F is an overhead diagram showing vectors for shortest pathsassociated with discretized points illustrated in FIG. 8D in accordanceto some implementations of this disclosure.

FIG. 9A is an overhead diagram of a robot facing a wall, thereby havinglimited forward mobility, in accordance to some implementations of thisdisclosure.

FIG. 9B is a top view diagram of a computed rotation of a footprint of arobot in accordance with some implementations of this disclosure.

FIG. 9C-9E are user interfaces for correcting maps in accordance toimplementations of this disclosure.

FIG. 10 is a process flow diagram of an exemplary method for pathplanning in accordance with some implementations of this disclosure.

FIG. 11 is a process flow diagram of an exemplary method for pathplanning in accordance with some implementations of this disclosure.

FIG. 12 is a process flow diagram of an exemplary method for pathplanning in accordance with some implementations of this disclosure.

All Figures disclosed herein are © Copyright 2017 Brain Corporation. Allrights reserved.

DETAILED DESCRIPTION

Various aspects of the novel systems, apparatuses, and methods disclosedherein are described more fully hereinafter with reference to theaccompanying drawings. This disclosure can, however, be embodied in manydifferent forms and should not be construed as limited to any specificstructure or function presented throughout this disclosure. Rather,these aspects are provided so that this disclosure will be thorough andcomplete, and will fully convey the scope of the disclosure to thoseskilled in the art. Based on the teachings herein, one skilled in theart would appreciate that the scope of the disclosure is intended tocover any aspect of the novel systems, apparatuses, and methodsdisclosed herein, whether implemented independently of, or combinedwith, any other aspect of the disclosure. For example, an apparatus canbe implemented or a method can be practiced using any number of theaspects set forth herein. In addition, the scope of the disclosure isintended to cover such an apparatus or method that is practiced usingother structure, functionality, or structure and functionality inaddition to or other than the various aspects of the disclosure setforth herein. It should be understood that any aspect disclosed hereincan be implemented by one or more elements of a claim.

Although particular aspects are described herein, many variations andpermutations of these aspects fall within the scope of the disclosure.Although some benefits and advantages of the preferred aspects arementioned, the scope of the disclosure is not intended to be limited toparticular benefits, uses, and/or objectives. The detailed descriptionand drawings are merely illustrative of the disclosure rather thanlimiting, the scope of the disclosure being defined by the appendedclaims and equivalents thereof.

The present disclosure provides for improved mobile platforms. Inparticular, some implementations of the present disclosure relate torobots, such as robotic mobile platforms. As used herein, a robot caninclude mechanical and/or virtual entities configured to carry out acomplex series of actions automatically. In some cases, robots can bemachines that are guided and/or instructed by computer programs and/orelectronic circuitry. In some cases, robots can includeelectro-mechanical components that are configured for navigation, wherethe robot can move from one location to another. Such robots can includeautonomous and/or semi-autonomous cars, floor cleaners, rovers, drones,planes, boats, carts, trams, wheelchairs, industrial equipment, stockingmachines, mobile platforms, personal transportation devices (e.g., hoverboards, SEGWAYS®, wheelchairs, etc.), stocking machines, trailer movers,vehicles, and the like. Robots can also include any autonomous and/orsemi-autonomous machine for transporting items, people, animals, cargo,freight, objects, luggage, and/or anything desirable from one locationto another. In some cases, such robots used for transportation caninclude robotic mobile platforms as the robots are mobile systems thatcan navigate and/or move autonomously and/or semi-autonomously. Theserobotic mobile platforms can include autonomous and/or semi-autonomouswheelchairs, bikes, row boats, scooters, forklifts, trams, trains,carts, vehicles, tugs, and/or any machine used for transportation.

As referred to herein, floor cleaners can include floor cleaners thatare manually controlled (e.g., driven or remote controlled) and/orautonomous (e.g., using little to no user control). For example, floorcleaners can include floor scrubbers that a janitor, custodian, or otherperson operates and/or robotic floor scrubbers that autonomouslynavigate and/or clean an environment. Similarly, floor cleaners can alsoinclude vacuums, steamers, buffers, mops, polishers, sweepers,burnishers, etc.

Certain examples are described herein with reference to floor cleanersor mobile platforms, or robotic floor cleaners or robotic mobileplatforms. Such examples are used for illustration only, and theprinciples described herein may be readily applied to robots generally.

In some cases, robots can include appliances, machines, and/or equipmentautomated to perform one or more tasks. For example, a module can beattached to the appliances, machines, and/or equipment to allow them tooperate autonomously. Such attaching can be done by an end user and/oras part of the manufacturing process. In some implementations, themodule can include a motor that drives the autonomous motions of theappliances, machines, and/or equipment. In some cases, the module causesthe appliances, machines, and/or equipment to operate based at least inpart on spoofing, such as by sending control signals to pre-existingcontrollers, actuators, units, and/or components of the appliances,machines, and/or equipment. The module can include sensors and/orprocessors to receive and generate data. The module can also includeprocessors, actuators, and/or any of the components described herein toprocess the sensor data, send control signals, and/or otherwise controlpre-existing controllers, units, and/or components of the appliances,machines, and/or equipment. Such appliances, machines, and/or equipmentcan include cars, floor cleaners, rovers, drones, planes, boats, carts,trams, wheelchairs, industrial equipment, stocking machines, mobileplatforms, personal transportation devices, stocking machines, trailermovers, vehicles, and/or any type of machine.

Detailed descriptions of the various implementations and variants of thesystem and methods of the disclosure are now provided. While manyexamples discussed herein may refer to robotic floor cleaners, it willbe appreciated that the described systems and methods contained hereinare applicable to any kind of robot. Myriad other exampleimplementations or uses for the technology described herein would bereadily envisaged by those having ordinary skill in the art, given thecontents of the present disclosure.

Advantageously, the systems and methods of this disclosure at least: (i)allow robots to safely operate in environments; (ii) provide comfort(e.g., by humans and/or animals) with robots by allowing robots toexhibit behaviors that appear natural; (iii) allow non-symmetric and/ornon-circular robots to navigate; (iv) provide for computationallyefficient management of robot resources; (v) improve the efficiency ofrobots; and (vi) allow robots to navigate and perform tasks. Otheradvantages are readily discernable by one having ordinary skill in theart given the contents of the present disclosure.

For example, in some implementations, a robot can comprise a floorcleaner. The floor cleaner can perform the task of cleaning a floor.Accordingly, the floor cleaner can clean a portion of a floor area. Insome cases, there can be some portions that an operator desires to cleanand some areas in which an operator does not desire to clean. Forexample, the floor cleaner can be a hard floor scrubber. An operatorwould desire for the hard floor scrubber to clean hard surfaces (e.g.,tile, concrete, terrazzo, ceramic, and/or other hard surfaces), but notsoft surfaces (e.g., carpet, artificial grass or turf, mats, and/orother soft surfaces). Moreover, where the robot is a floor cleaner, theoperator can desire for the whole cleanable space to be cleaned.Moreover, the operator can desire for the floor cleaner to get close towalls and/or other objects. For example, not traversing a portion of thefloor can lead to that portion not being cleaned. As another example, itcan be desirable for a floor cleaner to get close to a wall withoutcolliding with it, for example, it can be desirable for a floor cleanerto operate a predefined distance from a wall, such as approximately 1,2, 3, 4, 5, 6, or more centimeters away. Additionally, the operator canalso desire for the robot to avoid collisions in the space and/ornavigate to a particular destination. Other non-cleaning robots can havesimilar desirable characteristics. For example, it can be desirable fora stocking robot to stock certain items at certain locations. It can bedesirable for a mobile platform that transports people, items, animals,etc. to pick-up and/or drop-off items at certain locations. There aremyriad other applications where it is desirable for a robot to perform atask at certain places (and not other places) while simultaneouslynavigate. Advantageously, systems and methods disclosed herein allow arobot to navigate a space (and not navigate others), avoid obstacles,perform a desired task, and/or go to a destination. Many current robotsdo not have this ability because of difficulties in optimizing aplurality of behaviors of the robot.

As another example, a challenge in robotic navigation is dealing withexceptions to general rules. In some cases, these can be called cornercases, where the robot can encounter atypical scenarios. Advantageously,systems and methods described in this disclosure can enable robots todeal with such exceptional cases.

As another example, conventional robots are often symmetrical, circular,turn in a tight radius, move in any direction, and/or maneuver withouthigh dependency on the shape of the robots. However, many conventionalmachines are non-circular, non-symmetrical, cannot turn in a tightradius, cannot move in any direction, and/or maneuver with highdependency on shape. For example, a circular machine can turn and/ormove in any direction. A machine that has a tricycle shape may requireadditional maneuvers to be able to turn and/or move in a direction. Byway of illustration, where the tricycle shape robot has turned in adirection (e.g., left or right), it can take more movements to turn fromthat direction to another direction. Advantageously, systems and methodsof this disclosure allow for conventional machines of many shapes to berobotized.

As another example, conventional robots can have software and hardwarethat do not allow for robust planning. Many conventional systems andmethods used for planning utilize hardware that would be prohibitivelycostly and/or large in size. As a result, such conventional systems andmethods may not be integrated readily into robots and/or roboticsystems. Advantageously, systems and methods of this disclosure enableefficient use of hardware and/or software for robotic path planning.

FIG. 1A is a process flow diagram of an exemplary method 100 fornavigating a robot in accordance with some implementations of thisdisclosure. Block 102 includes receiving a path. For example, the pathcan be learned by a robot, such as through demonstration or otherlearning processes. As another example, the path can be uploaded onto arobot, such as through a map, coordinates, images, and/or other dataforms.

In some cases, the path can include a route for travelling. For example,the route can include translation of a robot from a first location to asecond location. The route can include a plurality of positions,orientations, and/or poses of a robot, such as a plurality of positions,orientations, and/or poses associated with locations in an environment.In some cases, the route can include a linear path where a robot travelsdirectly from a first location to a second location. In someimplementations, the path can be more complex, including winding,double-backing, overlapping, u-turning, and/or other maneuvering in anenvironment as the robot translates. For example, such maneuvering canallow the robot to complete a task. By way of illustration, where therobot is a floor cleaner, the maneuvering can allow the robot to cleanareas of a floor. As another example, where the robot is transportingitems, people, animals, cargo, freight, objects, luggage, and/oranything desirable from one location to another, such maneuvering canallow the robot to go to different locations for pick-up, drop-off, siteseeing, avoiding obstacles, and/or any other reason.

Block 104 includes adjusting the path received in block 102 based on theenvironment. In some cases, the received path in block 100 can beindicative at least in part of a path at a point in time. For example,where the robot is trained through demonstration, the path can beindicative of the route demonstrated at a particular time. Theenvironment can have certain characteristics at the particular time,wherein the characteristics can change at another time. For example, theenvironment can be dynamic, including one or more objects and/orobstacles. At a first time, a segment of the environment can be clear.In some implementations, block 104 can include dynamic planning wherethe path of robot 200 can change with an environment in real time.

For example, FIG. 1B is an overhead view of robot 200 travelling along apath in section 108 of an environment in accordance with someimplementations of this disclosure. Section 108 can be a portion inwhich robot 200 traverses in an environment. In section 108, robot 200can travel along path portion 110A. Path portion 110A can be a portionof the path received in block 102. As illustrated, path portion 100navigates around walls, such as wall 112, avoiding running into thosewalls. Because path portion 110A avoids the walls, robot 200, whiletravelling along path portion 110A, can avoid running into walls.

In some implementations, in addition to walls, such as wall 112, therecan be objects and/or obstacles. It can be desirable for robot 200 toavoid such objects and/or obstacles as robot 200 travels in order toavoid collisions. Accordingly, path portion 110A can be influenced bythe presence of environmental conditions, such as objects and/orobstacles.

By way of illustration, FIG. 1C is an overhead view of robot 200travelling along an altered path portion 110B in section 108 inaccordance to some implementations of this disclosure. Object 114 can bein the way of robot 200 travelling on path portion 110A as illustratedin FIG. 1B. Accordingly, if robot 200 travelled along path portion 110A,it can collide and/or be impeded with object 114. Accordingly, inaccordance to block 104, robot 200 can adjust section 108 to pathportion 110B in order to go around object 114. While FIGS. 1B and 1Cillustrate one adjustment, there can be any number of adjustments withinsection 108 and/or in other sections of a path in an environment.

How robot 200 plans around object 114 and/or plans the traversal ofsection 108 is a current challenge in the art. There can be a myriad ofpossible maneuvers that robot 200 can take. Moreover, robot 200 can havea plurality of objectives in actions, such as navigating a space,performing a robotic task (e.g., cleaning, transporting, and/or anyother task robot 200 is configured to perform), performing a task asfast as possible, conserving energy and avoiding resource expensivemaneuvers, preserving safe distances from obstacles, and/or otherobjectives. Advantageously, systems and methods of this disclosure canenable robot 200 to effectively and/or efficiently plan paths throughspaces under conditions where there is a plurality of objectives.

Returning to FIG. 1A, block 106 can include producing actuator commandsto navigate robot 200 along a path. By way of illustration, robot 200can include actuators, such as actuators that propel robot 200 forward,turn robot 200, and/or actuate portions of robot 200. For robot 200 totravel along a path (e.g., path portion 110A or 110B), robot 200 canperform a series of actuations. The series of actuations (e.g., ofactuators) can be responsive to a series of commands, such as commandsignals indicative at least in part of how the actuators actuate. Insome cases, these commands can be actuator commands and/or motorcommands (e.g., where the actuator is a motor). In some cases, suchcommands can be primitives, such as motor primitives and/or actuatorprimitives. In order to coordinate movements, commands can be suppliedto one or more degree-of-freedom (“DOF”) of the robot 200. Theseactuator commands allow robot 200 to form a trajectory that follows atleast portions of a path, such as path portion 110A or 110B.

FIG. 2 is a functional block diagram of a robot 200 in accordance withsome principles of this disclosure. As illustrated in FIG. 2, robot 200can include controller 204, memory 202, user interface unit 218, sensorsunit 212, actuators unit 220, and communications unit 222, as well asother components and subcomponents (e.g., some of which may not beillustrated). Although a specific implementation is illustrated in FIG.2, it is appreciated that the architecture can be varied in certainimplementations as would be readily apparent to one of ordinary skillgiven the contents of the present disclosure. As used herein, robot 200can be representative at least in part of any robot described in thisdisclosure. Robot 200 can instantiate one or more of the systems andmethods described in this disclosure, such as method 100.

Controller 204 can control the various operations performed by robot200. Controller 204 can include one or more processors (e.g.,microprocessors) and other peripherals. As used herein, processor,microprocessor, and/or digital processor can include any type of digitalprocessing device such as, without limitation, digital signal processors(“DSPs”), reduced instruction set computers (“RISC”), general-purpose(“CISC”) processors, microprocessors, gate arrays (e.g., fieldprogrammable gate arrays (“FPGAs”)), programmable logic device (“PLDs”),reconfigurable computer fabrics (“RCFs”), array processors, securemicroprocessors, specialized processors (e.g., neuromorphic processors),and application-specific integrated circuits (“ASICs”). Such digitalprocessors can be contained on a single unitary integrated circuit die,or distributed across multiple components.

Controller 204 can be operatively and/or communicatively coupled tomemory 202. Memory 202 can include any type of integrated circuit orother storage device configured to store digital data including, withoutlimitation, read-only memory (“ROM”), random access memory (“RAM”),non-volatile random access memory (“NVRAM”), programmable read-onlymemory (“PROM”), electrically erasable programmable read-only memory(“EEPROM”), dynamic random-access memory (“DRAM”), Mobile DRAM,synchronous DRAM (“SDRAM”), double data rate SDRAM (“DDR/2 SDRAM”),extended data output (“EDO”) RAM, fast page mode RAM (“FPM”), reducedlatency DRAM (“RLDRAM”), static RAM (“SRAM”), flash memory (e.g.,NAND/NOR), memristor memory, pseudostatic RAM (“PSRAM”), etc. Memory 202can provide instructions and data to controller 204. For example, memory202 can be a non-transitory, computer-readable storage apparatus and/ormedium having a plurality of instructions stored thereon, theinstructions being executable by a processing apparatus (e.g.,controller 204) to operate robot 200. In some cases, the instructionscan be configured to, when executed by the processing apparatus, causethe processing apparatus to perform the various methods, features,and/or functionality described in this disclosure. Accordingly,controller 204 can perform logical and/or arithmetic operations based onprogram instructions stored within memory 202. In some cases, theinstructions and/or data of memory 202 can be stored in a combination ofhardware, some located locally within robot 200, and some located remotefrom robot 200 (e.g., in a cloud, server, network, etc.).

In some implementations, sensors unit 212 can comprise systems and/ormethods that can detect characteristics within and/or around robot 200.Sensors unit 212 can comprise a plurality and/or a combination ofsensors. Sensors unit 212 can include sensors that are internal to robot200 or external, and/or have components that are partially internaland/or partially external. In some cases, sensors unit 212 can includeone or more exteroceptive sensors, such as sonars, light detection andranging (“LIDAR”) sensors, radars, lasers, cameras (including videocameras (e.g., red-blue-green (“RBG”) cameras, infrared cameras,three-dimensional (“3D”) cameras, thermal cameras, etc.), time of flight(“TOF”) cameras, structured light cameras, antennas, motion detectors,microphones, and/or any other sensor known in the art. In someimplementations, sensors unit 212 can collect raw measurements (e.g.,currents, voltages, resistances, gate logic, etc.) and/or transformedmeasurements (e.g., distances, angles, detected points in obstacles,etc.). In some cases, measurements can be aggregated and/or summarized.Sensors unit 212 can generate data based at least in part onmeasurements. Such data can be stored in data structures, such asmatrices, arrays, queues, lists, arrays, stacks, bags, etc. In someimplementations, the data structure of the sensor data can be called animage.

In some implementations, sensors unit 212 can include sensors that canmeasure internal characteristics of robot 200. For example, sensors unit212 can measure temperature, power levels, statuses, and/or anycharacteristic of robot 200. In some cases, sensors unit 212 can beconfigured to determine the odometry of robot 200. For example, sensorsunit 212 can include proprioceptive sensors, which can comprise sensorssuch as accelerometers, inertial measurement units (“IMU”), odometers,gyroscopes, speedometers, cameras (e.g. using visual odometry),clock/timer, and the like. Odometry can facilitate autonomous navigationand/or autonomous actions of robot 200. This odometry can includeposition of robot 200 (e.g., where position can include robot'slocation, displacement and/or orientation, and can sometimes beinterchangeable with the term pose as used herein) relative to theinitial location. Such data can be stored in data structures, such asmatrices, arrays, queues, lists, arrays, stacks, bags, etc. In someimplementations, the data structure of the sensor data can be called animage.

In some implementations, controller 204 can include a mapping and/orlocalization unit that can receive sensor data from sensors unit 212 tolocalize robot 200 in a map. In some implementations, mapping and/orlocalization unit can include localization systems and methods thatallow robot 200 to localize itself in the coordinates of a map and/orrelative to a location (e.g., an initialization location, end location,beacon, reference point, etc.). The mapping and/or localization unit canalso process measurements taken by robot 200, such as by generating agraph and/or map. The mapping and/or localization unit can also be aseparate unit from the controller.

In some implementations, robot 200 can map and learn routes through alearning process. For example, an operator can teach robot 200 where totravel in an environment by driving robot 200 along a route in anenvironment. Through a combination of sensor data from sensor units 212,robot 200 can determine the relative poses of robot 200 and the poses ofitems in the environment. In this way, robot 200 can determine where itis in an environment and where it has travelled. Robot 200 can laterrecall where it travelled and travel in a substantially similar way(though it may avoid certain obstacles in subsequent travels). Robotscan share such experiences with each other, such as through network 302(which will be described with reference to FIG. 3). In someimplementations, the mapping and localization unit can be used to carryforth method 100, including but not limited to receiving and/ordetermining a path, making adjustments to the path, and determiningactuator commands.

In some implementations, user interface unit 218 can be configured toenable a user to interact with robot 200. For example, user interfaceunit 218 can include touch panels, buttons, keypads/keyboards, ports(e.g., universal serial bus (“USB”), digital visual interface (“DVI”),Display Port, E-Sata, Firewire, PS/2, Serial, VGA, SCSI, audioport,high-definition multimedia interface (“HDMI”), personal computer memorycard international association (“PCMCIA”) ports, memory card ports(e.g., secure digital (“SD”) and miniSD), and/or ports forcomputer-readable medium), mice, rollerballs, consoles, vibrators, audiotransducers, and/or any interface for a user to input and/or receivedata and/or commands, whether coupled wirelessly or through wires. Userscan interact through voice commands or gestures. User interface units218 can include a display, such as, without limitation, liquid crystaldisplay (“LCDs”), light-emitting diode (“LED”) displays, LED LCDdisplays, in-plane-switching (“IPS”) displays, cathode ray tubes, plasmadisplays, high definition (“HD”) panels, 4K displays, retina displays,organic LED displays, touchscreens, surfaces, canvases, and/or anydisplays, televisions, monitors, panels, and/or devices known in the artfor visual presentation. In some implementations user interface unit 218can be positioned on the body of robot 200. In some implementations,user interface unit 218 can be positioned away from the body of robot200, but can be communicatively coupled to robot 200 (e.g., viacommunication units including transmitters, receivers, and/ortransceivers) directly or indirectly (e.g., through a network, server,and/or a cloud). In some implementations, user interface unit 218 caninclude one or more projections of images on a surface (e.g., the floor)proximally located to the robot, e.g., to provide information to theoccupant or to people around the robot. The information could be thedirection of future movement of the robot, such as an indication ofmoving forward, left, right, back, at an angle, and/or any otherdirection. In some cases, such information can utilize arrows, colors,symbols, etc.

In some implementations, communications unit 222 can include one or morereceivers, transmitters, and/or transceivers. Communications unit 222can be configured to send/receive a transmission protocol, such asBLUETOOTH®, ZIGBEE®, Wi-Fi, induction wireless data transmission, radiofrequencies, radio transmission, radio-frequency identification(“RFID”), near-field communication (“NFC”), infrared, networkinterfaces, cellular technologies such as 3G (3GPP/3GPP2), high-speeddownlink packet access (“HSDPA”), high-speed uplink packet access(“HSUPA”), time division multiple access (“TDMA”), code divisionmultiple access (“CDMA”) (e.g., IS-95A, wideband code division multipleaccess (“WCDMA”), etc.), frequency hopping spread spectrum (“FHSS”),direct sequence spread spectrum (“DSSS”), global system for mobilecommunication (“GSM”), Personal Area Network (“PAN”) (e.g., PAN/802.15),worldwide interoperability for microwave access (“WiMAX”), 802.20, longterm evolution (“LTE”) (e.g., LTE/LTE-A), time division LTE (“TD-LTE”),global system for mobile communication (“GSM”),narrowband/frequency-division multiple access (“FDMA”), orthogonalfrequency-division multiplexing (“OFDM”), analog cellular, cellulardigital packet data (“CDPD”), satellite systems, millimeter wave ormicrowave systems, acoustic, infrared (e.g., infrared data association(“IrDA”)), and/or any other form of wireless data transmission.

As used herein, network interfaces can include any signal, data, orsoftware interface with a component, network, or process including,without limitation, those of the FireWire (e.g., FW400, FW800, FWS800T,FWS1600, FWS3200, etc.), universal serial bus (“USB”) (e.g., USB 1.X,USB 2.0, USB 3.0, USB Type-C, etc.), Ethernet (e.g., 10/100, 10/100/1000(Gigabit Ethernet), 10-Gig-E, etc.), multimedia over coax alliancetechnology (“MoCA”), Coaxsys (e.g., TVNET™), radio frequency tuner(e.g., in-band or OOB, cable modem, etc.), Wi-Fi (802.11), WiMAX (e.g.,WiMAX (802.16)), PAN (e.g., PAN/802.15), cellular (e.g., 3G,LTE/LTE-A/TD-LTE/TD-LTE, GSM, etc.), IrDA families, etc. As used herein,Wi-Fi can include one or more of IEEE-Std. 802.11, variants of IEEE-Std.802.11, standards related to IEEE-Std. 802.11 (e.g., 802.11a/b/g/n/ac/ad/af/ah/ai/aj/aq/ax/ay), and/or other wireless standards.

Communications unit 222 can also be configured to send/receive signalsutilizing a transmission protocol over wired connections, such as anycable that has a signal line and ground. For example, such cables caninclude Ethernet cables, coaxial cables, Universal Serial Bus (“USB”),FireWire, and/or any connection known in the art. Such protocols can beused by communications unit 222 to communicate to external systems, suchas computers, smart phones, tablets, data capture systems, mobiletelecommunications networks, clouds, servers, or the like.Communications unit 222 can be configured to send and receive signalscomprising of numbers, letters, alphanumeric characters, and/or symbols.In some cases, signals can be encrypted, using algorithms such as128-bit or 256-bit keys and/or other encryption algorithms complyingwith standards such as the Advanced Encryption Standard (“AES”), RSA,Data Encryption Standard (“DES”), Triple DES, and the like.Communications unit 222 can be configured to send and receive statuses,commands, and other data/information. For example, communications unit222 can communicate with a user operator to allow the user to controlrobot 200. Communications unit 222 can communicate with a server/network(e.g., a network) in order to allow robot 200 to send data, statuses,commands, and other communications to the server. The server can also becommunicatively coupled to computer(s) and/or device(s) that can be usedto monitor and/or control robot 200 remotely. Communications unit 222can also receive updates (e.g., firmware or data updates), data,statuses, commands, and/or other communications from a server for robot200.

Actuators unit 220 can include any system used for actuating, in somecases to perform tasks. For example, actuators unit 220 can includedriven magnet systems, motors/engines (e.g., electric motors, combustionengines, steam engines, and/or any type of motor/engine known in theart), solenoid/ratchet system, piezoelectric system (e.g., an inchwormmotor), magnetostrictive elements, gesticulation, and/or any actuatorknown in the art. In some implementations, actuators unit 220 caninclude systems that allow movement of robot 200, such as motorizedpropulsion. For example, motorized propulsion can move robot 200 in aforward or backward direction, and/or be used at least in part inturning robot 200 (e.g., left, right, and/or any other direction). Byway of illustration, actuators unit 220 can control if robot 200 ismoving or is stopped and/or allow robot 200 to navigate from onelocation to another location.

One or more of the units described with respect to FIG. 2 (includingmemory 202, controller 204, sensors unit 212, user interface unit 218,actuators unit 220, communications unit 222, and/or other units) can beintegrated onto robot 200, such as in an integrated system. However, insome implementations, one or more of these units can be part of anattachable module. This module can be attached to an existing apparatusto automate so that it behaves as a robot. Accordingly, the featuresdescribed in this disclosure with reference to robot 200 can beinstantiated in a module that can be attached to an existing apparatusand/or integrated onto robot 200 in an integrated system. Moreover, insome cases, a person having ordinary skill in the art would appreciatefrom the contents of this disclosure that at least a portion of thefeatures described in this disclosure can also be run remotely, such asin a cloud, network, and/or server.

In some implementations, robot 200 can be communicatively coupled to anetwork. FIG. 3 is a functional block diagram of system 300, whichincludes robot 200 communicatively and/or operatively coupled to network302 in accordance with some implementations of this disclosure. Network302 can comprise a collection of hardware, software, services, and/orresources that can be invoked to instantiate a virtual machine, process,or other resource for a limited or defined duration, or an unlimited orundefined duration. Network 302 can be communicatively and/oroperatively coupled to a plurality of devices, systems, and/or servers,including devices and/or servers that have access to the internet. Oneor more of access points, such as access points 304A and 304B, can bedevices, systems, and/or servers, including, but not limited to,computers, mobile devices, tablets, smart phones, cells phones, personaldigital assistants, phablets, e-readers, smart watches, set-top boxes,internet streaming devices, gaming consoles, smart appliances, and/orany device with access to the internet and/or any network protocol.Although two access points are illustrated, there can be more or feweraccess points as desired.

As used herein, network 302 can be operated: network 302 can haveonboard computers that can receive, process, and/or send information.These computers can operate autonomously and/or under control by one ormore human operators. Similarly, network 302 can have access points(e.g., access points 304A and 304B), which can similarly be used tooperate network 302. The access points can have computers and/or humanoperators that can receive, process, and/or send information.Accordingly, references herein to operation of network 302 can beapplied to a human operator and/or a computer operator.

In some implementations, one or more robots that are substantiallysimilar to robot 200 can be communicatively and/or operatively coupledto network 302. Each of these robots can communicates statuses,commands, and/or operative data to network 302. Network 302 can alsostore and/or communicate statuses, commands, and/or operative data tothese one or more of robots. In some cases, network 302 can store maps,sensor data, and other information from robot 200 and/or other robots.Network 302 can then share experiences of a plurality of connectedrobots to each other. Moreover, with the aggregation of information,network 302 can performed machine learning algorithms to improveperformance of the robots.

A person having ordinary skill in the art would appreciate from thecontents of this disclosure that some portions of this disclosure may beperformed by robot 200, network 302, and/or access points 304A and/or304B. Though certain examples may be described with reference to one ormore of robot 200, network 302, and/or access points 304A and/or 304B,it would be appreciated that the features of the examples can bedistributed amongst robot 200, network 302, and/or access points 304Aand/or 304B to achieve substantially similar results.

FIG. 4 is a process flow diagram of an exemplary method 400 foroperating robotic path planning of robot 200 in accordance with someimplementations of this disclosure. While this example may be describedon occasion in this disclosure in the context of floor cleaning, aperson having ordinary skill in the art would appreciate that method 400can be readily applied to other robotic applications given the contentsof this disclosure, including, without limitation, any of theapplications otherwise described in this disclosure.

Block 404 includes generating a cost map associated with an environmentof a robot. For example, robot 200 can perform a robotic task. By way ofillustration, the robotic task can be cleaning, such as floor cleaning.As a result of the floor cleaning, it can be desirable for robot 200 totravel to predetermined places on a floor and/or map. For example, itcan be desirable for robot 200 to clean substantially the entire surfaceof a floor, thereby making it desirable for robot 200 to travel tosubstantially all areas of a floor (e.g., at least once, but travellingto areas a plurality of times can also be desirable). As anotherexample, there can be sections of a floor in which it is desirable forrobot 200 to clean, thereby making it desirable to have the robot travelto those sections. As another example, there can be sections of a floorin which it is not desirable for robot 200 to clean. For example, floorcleaners of hard surfaces (e.g., cleaners of tile, ceramics, concrete,etc.) may not be able to clean soft surfaces (e.g., carpet, artificialgrass or turf, mats, and/or other soft surfaces), or vice versa. In somecases, using the floor cleaner on the wrong surface can lead to damage,such as water damage, wear, chipping, and/or other damage to the surfaceand/or robot 200.

As another example, robot 200 can be a transportation robot, wherein itis desirable for robot 200 to travel to certain locations, and in somecases, in a particular order. This can be desirable in order to follow aschedule, efficiently and/or effectively navigate, providepredictability of transportation (e.g., of goods, people, animals,etc.), pick up only certain things for transportation, avoid traffic,and/or any other desirable characteristics of transportation. In suchcases, robot 200 not travelling to certain locations (and/or in acertain order) can result in goods, people, animals, etc. not beingtransported. Accordingly, it may be desirable for a robot to travel tocertain areas, locations, and/or positions in the course of performing arobotic task.

Other analogous robotic situations would be readily apparent to a personhaving ordinary skill in the art given the contents of this disclosure.For example, a robotic arm can perform the robotic task of movingobjects. It can be desirable for a robotic arm to maneuver to particularlocations/positions in order to pick-up and/or drop-off objects.

In some implementations, the aforementioned preferences for robotictasks/operation can be realized at least in part in a cost map. In someimplementations, the cost map can be reflective at least in part of thevalue of the preference of travel (e.g., navigation, movement to, etc.)of robot 200 to particular locations. In some cases, such travel can beto perform a robotic task.

By way of illustration, the cost map can be a two-, three-, four- ormore dimensional data structure wherein portions of the cost mapcorrelate to locations (e.g., relative and/or absolute) in anenvironment. In some cases, those locations can be correlated to time,where the characteristics of the locations can change over time. Forexample, in a two-dimensional (“2D”) map, each pixel can correlate atleast in part to a physical location in the environment in which robot200 navigates. Similarly, in a three-dimensional (“3D”) map, each voxelcan correlate at least in part to a physical location in the environmentin which robot 200 navigates. In some implementations, a 2D map can beused where robot 200 operates in substantially planar operations (e.g.,where the movements of robot 200, whether on a level surface orotherwise, operate within a plane, such as left, right, forward, back,and/or combinations thereof). In some implementations, a 3D map can beused where robot 200 operates in more than planar operations, such asup, down, row, pitch, and/or yaw in addition to left, right, forward,and back). Where a space has more characteristics associated withlocations (e.g., temperature, time, complexity, etc.), there can be moredimensions to the map.

In some implementations, a value can be associated with one or morepixels (while pixel is used here, the principles are readily applicableto voxels and/or any other analog in different dimensions) of the costmap, indicative at least in part of the relative value associated withthe pixel. For example, the cost map can comprise binary values, whereone value can be indicative at least in part of areas to which it isdesirable for a robot 200 to travel, and another indicative at least inpart of places where it is not desirable for robot 200 to travel. Asanother example, the cost map may have different values associated witha pixel, wherein the magnitude of the value can be indicative at leastin part of how desirable and/or undesirable it is for robot 200 totravel to the pixel.

FIG. 5A is an overhead view graphical representation of a cost map inaccordance to some implementations of this disclosure. Cost map 502includes a map that correlates with an environment of robot 200. Forexample, robot indicator 500 indicates the position of robot 200. Insome cases, robot indicator 500 may not be actually present on cost map502. Indicators 506A-506C can indicate at least in part the position ofobstacles, such as walls. Indicator 504 can be indicative at least inpart of a desirable travel path portion, wherein it is desirable forrobot 200 to travel within indicator 504. A person having ordinary skillin the art would appreciate that a cost map may not exist as an image,but rather a data structure with values. However, in some cases, thecost map can exist as an image, such as cost map 502, and/or be morereadily visualized as an image.

Indicators 506A-506C can have values associated with the pixelscontained therein. These values can be indicative at least in part of apreference for robot 200 not to go to those locations (e.g., crash intothe obstacles). Similarly, values can be associated with the pixelscontained in indicator 504, indicating a preference for robot 200 totravel to those locations.

For example, robot 200, including controller 204, can be configured tomaximize the values associated with the pixels that robot 200 toucheswhile traveling a path portion. Accordingly, pixels in indicator 504 canhave a higher value than pixels in other places. Moreover, pixels ofindicators 506A-506C can have lower values, and/or negative values, toindicate preferences for robot 200 not to go to those locations. Asanother example, robot 200 can be configured to minimize the value ofthe pixels it touches. Accordingly, pixels in indicator 504 can havelower values, and/or negative values, to indicate a preference of robot200 to go to those locations. Similarly, in this situation, pixels ofindicators 506A-506C can have higher values to indicate preferences forrobot 200 not to go to those locations. A person having ordinary skillin the art would appreciate that there are any number of ways a personcan configure robot 200, and controller 204, to give robot 200 arelative preference to go to a location based on a cost map. In somecases, robot 200, and controller 204, tries to go to locationsassociated with more desirable pixels in the cost map.

In some implementations, the cost map can be dynamic, changing over timeand as robot 200 moves. For example, objects in the environment (e.g.,as indicated by indicators 506A-506C) can move over time. Moreover,values of pixels in indicator 504 can also change over time. Forexample, after robot 200 travels across a pixel, it may become lesspreferable, or not preferable at all, for robot 200 to travel to thelocation associated with the pixel again. As a result, the valueassociated with such a travelled pixel can indicate less preference(e.g., lower where high pixel values are indicative at least in part ofpreference or higher where lower pixel values are indicative at least inpart of preference) than other pixels associated with locations to whichrobot 200 has not travelled. However, such travelled pixels may still bevalued in a way that indicates more preference than pixels of objects(e.g., pixels of indicators 506A-506C) or pixels of other locations. Asanother example, obstacles can move into the path, such as intolocations associated with pixels of indicator 508. Besides obstaclesand/or objects, there can be other environmental factors that can beundesirable, such as surface type, reflectance in an area, interference(e.g., due to electronic or other components), hazards, density ofpeople and/or items, blockages, undesirably of the robot (e.g., due tosocial events or other occurrences), and/or other factors.

In some implementations, there can also be costs associated with themaneuvering that robot 200 must accomplish in order to go to suchlocations. For example, robot 200 can travel along trajectories thattouch proximal pixels, but may not be able to jump over pixels in orderto go to other locations. Accordingly, there can be a preference forclose pixels, and such pixels can have values reflective of thatpreference. Also, there can be a preference for pixels that can bereached through certain maneuvers of robot 200, such as by goingstraight and making gradual turns, as opposed to making sharp turns andU-turns. Moreover, generally, the values of pixels can be indicative atleast in part of the resources expended by robot 200 to get to thoselocations. Accordingly, robot 200 can optimize its travel to move topreferred locations according to the cost map and avoiding locationsthat are not preferred.

In some implementations, the cost map can include, directly orindirectly, information relating to robotic tasks. For example, whererobot 200 is a floor cleaner, it may be desirable for robot 200 to cleanin some places but not others. Accordingly, the cost map can indicatewhich areas robot should clean by, e.g., spraying water, operating abrush, mopping, etc. In some cases, this indication can be done by acleaning parameter, which designates areas to be cleaned. In some cases,this indication can be done by the cost value itself, where highervalues (e.g., above a predetermined operation threshold) and/or lowervalues (e.g., below a predetermined operation threshold) can beindicative in part of robot 200 performing a robotic task.

FIG. 5B is an overhead view graphical representation of a cost maphaving skirts 516A and 516B around indicator 504 in accordance to someimplementations of this disclosure. The pixels in indicator 504 canindicate a preference for robot 200 to travel. For example, where robot200 is a floor cleaner, it can be desirable for robot 200 to cleaning aparticular area. However, leaving that area may not be preferable. Forexample, leaving an area could lead to surface damage (e.g., if thefloor cleaner is supposed to clean a hard surface but goes to a softsurface) and/or other hazards/damage. Accordingly, it can be desirableto prevent robot 200 from straying off a path of motion. Skirts 516A and516B illustrate means to prevent robot 200 from straying off the pixelsof indicator 504. Accordingly, skirts 516A and 516B can contain pixelsof un-preferred value (e.g., lower and/or negative values when highervalues are preferred, or higher values when lower values are preferred).Advantageously, this can allow robot 200 to be restricted to certainareas, in some cases preventing any damage robot 200 could cause byleaving the area.

In some implementations, the values of the cost map can be determined(e.g., calculated) using a cost function. The cost function can assignvalues to each pixel based on any of the aforementioned preferences. Thecost function can be dependent on time, causing in part changes toassigned values of pixels over time. Advantageously, this timedependency can allow the pixel values of the cost map to change overtime. In some implementations, the cost function can lead to a decay ofvalue over time in order to account for robot movements.

A challenge in generating the cost map of Block 404 is managing the useof memory and processor power. More pixels require more memory to store.The number of pixels can be related to the size, resolution, and/ordimensionality of the cost map. This size, resolution, and/ordimensionality can relate to at least the range of the path planned, thedetail, and/or the complexity of a space. Moreover, how much memory eachpixel utilizes can relate to the value (e.g., the form of data)associated with each pixel and the data structure which is utilized forthe pixel. Also, memory and processor usage associated with the cost mapcan be dependent on the number of operations performed on the cost map.Accordingly, the size (e.g., number of pixels) of the cost map can bedetermined based at least in part on the memory budget for processing,which can vary between robots.

In some implementations, it can be advantageous to have the cost map berobot-centric. For example, having a common format for cost maps canallow them to be readily compared. Moreover, robot-centric cost maps cannormalize the cost maps allowing them to be relative to a persistentelement (e.g., robot 200 will be where robot 200 is measuring) ratherthan transitory portions of the environment (e.g., a starting position).

By way of illustration, FIG. 6 is a top view of a cost map 602 that isrobot centric for robot 200 in accordance to some implementations ofthis disclosure. Robot icon 500 can correlate to the relative positionof robot 200 in space as it is represented in cost map 602. For example,indicator 604 indicates a desirable area for robot 200 to travel asrepresented in cost map 602.

In some implementations, the cost map may already be created asrobot-centric. For example, sensor measurements can already inrobot-centric/egocentric view (e.g., LIDAR ranges of obstacles withrespect to robot), thus the measurements can be projected onto arobot-centric cost map. In such cases, block 406 can be skipped and/orcombined with block 404 in some implementations.

Where cost maps are created that are not robot-centric, the cost mapscan be rotated so that the cost maps are robot centric. For example, thecost map (and/or other maps, such as operational maps that relate to thepath of travel or robotic tasks) can be rotated by robot 200 (e.g.,controller 204) so that the robot is stationary within the cost map andeverything else (e.g., features of the environment and/or the path ofrobot 200) is relative and/or projected around the stationary robot 200.Advantageously, this allows different alternative paths of robot 200 tobe explored while minimizing the computations of the comparison.Moreover, the ego (e.g., robotic) centric view limits down availableoptions and/or permutations where not all orientations robot 200 have toexplored. Instead, in some implementations, available options arelimited based on what robot 200 sees from the position of robot 200.

Block 406 then includes projecting a plurality of path portions relativeto robot 200. These trajectories can comprise possible trajectories ofrobot 200 in a space. In some implementations, these trajectories cantake into account the shape of robot 200. For example, robot 200 canhave a size and shape as determined by the chassis and/or externalelements of robot 200. Moreover, robot 200 can have a predeterminedfootprint, which can include the size and shape in which robot 200perceives itself. In order to illustrate a robot's predefined footprintof itself, FIG. 7A is a top view diagram illustrating robot footprint702 of robot 200 in accordance with some implementations of thisdisclosure. Robot 200 can have a predefined body shape and dimensions.Robot 200 can include a body with a plurality of sides, such as frontside 704A, right side 704C, left side 704D, and back side 704B. Robot200 can also have a top side and a bottom side. A person having ordinaryskill in the art, given the contents of the present disclosure, wouldappreciate that robot 200 can have other sides as well, corresponding tothe surfaces of robot 200, which can vary by shape (e.g., rectangular,pyramidal, humanoid, or any other shape). By way of illustration, frontside 704A can be positioned on the forward-facing side of robot 200,where the forward-facing side is forward in the direction of forwardmovement of robot 200. Back side 704B can be positioned on thebackward-facing side of robot 200, where the backward-facing side is theside facing in substantially the opposite direction of theforward-facing side. Right side 704C can be the right-hand side relativeto front side 704A, and left side 704D can be the left-hand siderelative to front side 704A.

The actual body shape of robot 200 is illustrated; however, footprint702 can be the size of robot 200 configured in the software and/orhardware of robot 200 for determining how robot 200 can navigate and/orperform tasks. By way of illustration, footprint 702 can extend (asillustrated) beyond front side 704A, right side 704C, left side 704D,and/or back side 704B, creating a difference between what robot 200perceives is the size of robot 200 in software and/or hardware (e.g.,footprint 702) and what the actual size/shape of robot 200 is inreality. This can allow clearance between robot 200 and/or objects in anenvironment. Advantageously, footprint 702 can allow a safety buffer fornavigation. The size and/or shape of footprint 702 can be based at leastin part on a number of factors, including desired clearance, complexityof environments, tolerance to assists, risk of collision (e.g., theoccurrence of, the amount of damage of, etc.), and/or other factors. Asillustrated, footprint 702 is rectangular; however, footprint 702 cantake on any shape desirable, such as square, triangular, rectangular,parallelogram asymmetric shapes, curves, etc. Moreover, footprint 702 isillustrated from a top view, seen as two-dimensional. However, in somecases, footprint 702 can be three-dimensional, reflecting the perceptionof robot 200 from a plurality of surfaces of robot 200.

As illustrated, in some implementations, footprint 702 can be largerthan the actual size of robot 200. A person having ordinary skill in theart, given the contents of the present disclosure, can appreciate thatthe amount of clearance from each side of footprint 702 relative torobot 200 can vary independently at different points, wherein footprint702 can be a different shape and/or size from robot 200, have asymmetricclearances, and/or include variations throughout. In someimplementations, footprint 702 can be substantially similar in sizeand/or shape to robot 200, creating no clearance. Advantageously, havingthis substantial similarity can allow robot 200 to closely navigatearound objects and/or minimize operator assistance for situations whererobot 200 perceives that it cannot fit, yet can actually fit. However,having this substantial similarity between robot 200 and footprint 702may provide increased risks of collisions due to noise and/oraberrations in mapping and/or navigation of robot 200.

In planning where to go, robot 200 can plan trajectories, which caninclude the course (e.g., including traveling vector) robot 200 willtravel in a space. In some implementations, it can be advantageous forrobot 200 to determine a predetermined number of trajectories. Thesetrajectories can be representative of the possible movements of robot200, such as the possible movements in space of robot 200 in order tonavigate an area. In some implementations, the predetermined number canbe determined based at least in part on memory and processing power,speed of processing, complexity of the environment through which robot200 navigates, the number of possible orientations of robot 200, the DOFof robot 200, the amount of space covered in the trajectories, theamount of time covered in the trajectories, the amount of time used inorder to complete a trajectory, and/or other factors. In some cases, thepredetermined number of trajectories balances the desire to review asmany trajectories as possible against the practical consideration ofdetermining where to travel in real time and economizing roboticresources. In some exemplary implementations in the application of floorcleaners, 5000 trajectories were a sufficient predetermined number oftrajectories. However, other numbers are envisioned, and should expandwith the availability of processing and storage technology, based atleast in part on the aforementioned factors, such as hundreds,thousands, millions or more trajectories.

In some implementations, the trajectories can comprise sub-movements ofelements of robot 200. For example, where robot 200 has a plurality ofwheels and is navigating, the trajectory can be defined by the robotdriving configuration, such as quantity and positions of one or more ofthe wheels of robot 200. By way of illustration, in some robots thathave a plurality of wheels, some wheels can be used to steer the robot.For example, a robot all-wheel, four-wheel, front-wheel, and/orrear-wheel drive. Trajectories can include movements of the one or morewheels.

By way of illustration, FIG. 7B illustrates an elevated left side viewof robot 200 with three wheels in accordance to some implementations ofthe present disclosure. Similarly, FIG. 7C illustrates an elevated rightside view of robot 200 with three wheels in accordance to someimplementations of the present disclosure. As illustrated, in someimplementations, robot 200 can have three wheels, where two wheels(e.g., wheels 710A and 710C) can be positioned proximal to back side704B and one wheel (e.g., wheel 710B) can be positioned proximal tofront side 704A. In this illustration, robot 200 can be rear-wheeldriven, where wheels 710A and 710C can provide driving power and wheel710B can provide steering, based at least in part on the angle to whichwheel 710B is positioned. For example, wheel 710B can be positionedperpendicular to the body of robot 200 such that robot 200 goesstraight. Similarly, wheel 710B can turn across an angle to turn robot200. The angle can be a number of discretized and/or analog degrees,such as ranging from −90 to 90 degrees, and/or any range of degrees asdesired for maneuvering. In some implementations, the turning of wheel710B can be controlled by an actuator, such as a steering motor. Thisactuator can turn wheel 710B according to, at least in part, motorcommands. In some implementations, additional elements can also controlthe positioning of wheel 710B, such as stabilizers, shock absorbers,manual feedback (e.g., from forces placed on wheel 710B from theenvironment), and/or other elements.

In some implementations, the trajectories can be divided into a seriesof actuator commands. For example, in some implementations, the actuatorcommands can determine the angle of wheel 710B in order to control thenavigation of robot 200. For example, the actuator command can be aprimitive (e.g., send a predetermined voltage for a predetermined timeinterval) and/or a higher-level command (e.g., set wheel to a determineddegree). Accordingly, in the course of controlling the movement of robot200, robot 200 can issue a series of actuator commands over time.

FIG. 7D is a chart of controller characteristics over time in accordancewith principles of this disclosure. Timeline 712 is illustrative of aperiod of time over time t. Timeline 712 can be divided into units(e.g., segments), such as unit 714. The segments can be of substantiallyequal size and/or not substantially equal size, depending at least on:the rate at which actuator commands are applied, the ability foractuators to respond, the amount of maneuvering desired of robot 200,the speed of robot 200, and/or other factors. The number of units intimeline 712 can depend at least in part on the complexity of themaneuvering of robot 200, memory and/or processor resources, desiredresolution, the number of trajectories calculated, and/or other factors.Similarly, the period of time can depend at least on: the rate at whichactuator commands are applied, the ability for actuators to respond, theamount of maneuvering desired of robot 200, the speed of robot 200,complexity of the maneuvering of robot 200, memory and/or processorresources, desired resolution, the number of trajectories calculated,and/or other factors. In some exemplary implementations, the period oftime was approximately 2.5 seconds with 25 units. However, other timesand/or number of units are contemplated based at least in part on theaforementioned factors. For example, time periods of 1, 2, 3, 4, 5, 6 ormore seconds can be used, and/or periods there between. The number ofunits can be any desired value, such as values including or between 0 to100, thousands, or more.

For each segment, a control characteristic can be calculated. Forexample, in the example of robot 200 illustrated in FIGS. 7B and 7C, thecontrol characteristic can be the wheel angles of wheel 710B and/or thelinear velocity of robot 200. By way of illustration, robot 200 can usea set of predetermined velocities over a set of predetermined wheelangles. These predetermined velocities and wheel angle can be combinedto manipulate the movements of robot 200. Other examples of controlcharacteristics are envisioned as well. For example, where robot 200 isa robotic arm, the control can be a position of an actuator controllingthe position of the arm. In some cases, there can be a plurality ofactuators controlling various DOFs of robot 200, whether robot 200 is arobotic arm, multi-wheel vehicle, walking robot, and/or any other robot.Accordingly, at a given time instance there can be a plurality ofcontrols characteristics (e.g., stored in an array, matrix, or aplurality of structures) corresponding to the state of various actuatorsof robot 200.

Also at a given time instance, different variations of the controlcharacteristic can be calculated. For example, lines 716A-716Nillustrate N number of variations of the control characteristics. Insome cases, these control characteristics can be a subset of allpossible movements of robot 200. By way of illustration, the arrowsillustrated can correspond to wheel angles of robot 200. This subset canbe restricted and/or unrestricted as desired. For example, the subsetcan limit the control characteristics to those that gradually change(e.g., within a predefined range of variation from subsequent and/orproceeding control characteristics) to reflect realistic movements. Asanother example, the control characteristics can recognize obstaclesand/or objects in the environment and only include those that avoidcollisions. As another example, in some implementations, the controlcharacteristics can recognize the footprint of robot 200 and onlyinclude maneuvers that give robot 200 sufficient clearance and/or arephysically realistic given the size and shape of robot 200. However, insome cases, contrary to these example, trajectories may be calculatedprior to knowledge about obstacles, thereby control characteristics maynot take into account clearance and obstacle collisions. In anotherexample, the control characteristics can take into account other factorsof robot 200 that may have a bearing on how robot 200 can realisticallynavigate. By way of illustration, for a navigating robot, the weight ofrobot 200 can impact how sharply robot 200 can realistically turn. Asanother example, environmental factors, such as slipperiness of asurface, presence of dynamic features, lighting, moisture, temperature,and/or other environmental factors can affect the maneuverability ofrobot 200 in navigation and/or any other robotic task. The controlcharacteristics can be limited to those that reflect realistic operationof robot 200 given those environmental factors. Advantageously, usingone or more of the aforementioned restrictions can allow faster (andmore efficient in terms of resources) computation by having feweroptions to process and/or consider. Moreover, another advantage is thatthe aforementioned restrictions can allow robot 200 to operate a spacewith fewer issues.

On the other hand, considering more options can lead to a more completeanalysis, which can, in some cases, allow for better decisions. Forexample, computing control characteristics without consideration ofobstacles can recognize that obstacles can be dynamic and that sometrajectories can be more favorable if obstacles move. Moreover, furthereliminations of possible trajectories can be made at another block, suchas block 408 which will be discussed later. In some cases, suchcomputations can be done in advance (e.g., prior to adding additionalcomplexity and/or constraints), still allowing for economical use ofcomputational resources.

Accordingly, the N number of lines can correlate to the desirable numberof control characteristics. In some cases, N can correlate with thenumber of trajectories (e.g., 5000 trajectories and/or any other number)and/or be predetermined based at least in part by memory and processingpower, speed of processing, complexity of the environment through whichrobot 200 navigates, the number of possible orientations of robot 200,the DOF of robot 200, the amount of space covered in the controlcharacteristics, the amount of time covered in the controlcharacteristics, and/or other factors.

In some cases, trajectories can be defined by control characteristics.FIG. 7E is a top view diagram of robot 200 following series controllercharacteristics in accordance with some implementations of the presentdisclosure. As illustrated, robot 200 follows the controllercharacteristics illustrated in line 716A. Accordingly, robot 200 cantravel along trajectory 726 comprising the controller characteristicsillustrated in line 716A, forming a gentle right turn. This trajectorycan trace a path portion. Similarly, the other lines 716A-716N can formtrajectories of travel of robot 200.

FIG. 8A includes path portion diagrams 800A and 800B illustratingdetermined path portions in accordance to some implementations of thepresent disclosure. In some cases, these diagrams can also be calledmasks. For example, path portion 802A can be a graphical representationof a path determined from a trajectory of robot 200. Such a trajectorycan comprise controller characteristics, such as those described withreference to FIGS. 7B and 7C and elsewhere in this disclosure. Pathportion 802A can have a first shape indicative at least in part of thearea to which robot 200 navigates. Similarly, path portion 802B can beanother graphical representation of a path determined from a trajectoryof robot 200. Such a trajectory can comprise controller characteristics,such as those described with reference to FIGS. 7B and 7C and elsewherein this disclosure. A person having ordinary skill in the art wouldappreciate that while some graphical representations are shown as pathportion diagrams 800A and 800B, the path portion can be stored as otherdata structures, such as matrices, images, arrays, vectors, and/or anyother data structure known in the art.

In some implementations, the determined path portions illustrated inpath portion diagrams 800A and 800B can be relative to, and/or centeredaround, robot 200 (e.g., substantially similar to as described withreference to FIG. 6). In some cases, where each determined path portionis relative to robot 200, determined path portions can readily becompared.

For example, a plurality of path portions can be determined. FIG. 8B isa graphical representation of a three-dimensional matrix 800 of pathportion diagrams in accordance to some implementations of the presentdisclosure. Matrix 800 can include N path portions, where N cancorrelate to the desirable number of path portions to consider. In somecases, N can correlate with the number of trajectories (e.g., 5000trajectories and/or any other number), control characteristics, and/orbe predetermined based at least in part by memory and/or processingpower, speed of processing, complexity of the environment through whichrobot 200 navigates, the number of possible orientations of robot 200,the DOF of robot 200, the amount of space covered in the controlcharacteristics, the amount of time covered in the controlcharacteristics, and/or other factors.

Returning to FIG. 4, block 408 can include determining the cost of theprojected plurality of path portions. In some implementations, the costof a path portion can be determined with reference to a cost map (e.g.,a cost map substantially similar to the cost map described withreference to FIGS. 5A-5B, 6). Accordingly, the cost of travelling viathe path portion can be calculated.

Where a path portion diagram is determined, and the cost map and thepath portion diagram are orientated substantially similarly (e.g., bothrelative to, and/or centered around, robot 200), the cost of a pathportion can be readily calculated. For example, taking the dot productbetween a cost map and a path portion diagram can compute the costassociated with the path portion diagram. Accordingly, where there is aplurality of path portion diagrams, the dot product between a cost mapand the plurality of path portion diagrams can give the cost associatedwith each path portion diagram. In the case where matrix 800 includesthe plurality of path portions, the dot product of the matrix and thecost map will calculate the costs of the path portions included inmatrix 800. Advantageously, this can allow the rapid, and cleancalculation of a plurality of path portions so that they can becompared.

Block 410 can include selecting a first path portion from the pluralityof path portions based at least in part on the cost of each of the pathportions. For example, the dot product between the cost map and a maskcan be taken in order to find the cost associated with a mask. Wherehigher values in the cost map are assigned to places to which it isdesirable for robot 200 to travel, finding the substantial maximumand/or higher values as a result of the dot product can be indicative ofan optimal path. As another example, where lower values in the cost mapare assigned to places to which it is desirable that robot 200 travels,finding the substantial minimum and/or lower values as a result of thedot product can be indicative of an optimal path.

However, there can be other factors considered in addition to the costand/or modifying the cost. For example, the maneuvering time for pathportions can be considered. By way of illustration, a predeterminedmaneuvering time threshold can be predetermined. If maneuvering tocomplete a path portion takes longer than the predetermined maneuveringtime threshold, the path portion can be disregarded and/or given apenalty (e.g., increasing the cost by a multiplier and/or additive). Asanother example, the cost map can be adjusted to reflect time savingmaneuvers. By way of illustration, robot 200 can take a greedy approachin finding paths to maximize speed of maneuvering.

As another example, the shortest path field can be computed. Forexample, an end point can be determined for robot 200. For every path,the shortest path to the end point can be determined given the presentorientation of the robot. In this way, the shortest path can bedetermined for every point in a map. Such shortest path to the end pointcan be used to adjust values of the cost map thereby making shorterpaths (and/or realistic paths) more favorable. In some cases, the mapcomprising shortest paths can be an additional map, essentially forminga cost map. In some implementations, the shortest paths can further takeinto account obstacles, such as by using known algorithms in the art.

For example, the end point can be related to a limited horizon of robot200. For example, robot 200 may plan and/or view a horizon that has apredefined distance and/or time range. For example, the horizon can be apredefined distance on the order of feet, yards, meters, etc. Thehorizon can be a predefined time (e.g., that robot 200 can travel beforebeing out of range) in seconds, minutes, etc.

As an illustrative example, FIG. 8C is an overhead diagram of atrajectory 820 of robot 200 that would cause robot 200 to run intoobstacle 822 and a trajectory 824 of robot 200 that would allow robot200 to go around an obstacle 822 in accordance to some implementationsof this disclosure. Map portion 818 illustrates a portion of anenvironment in which robot 200 is navigating. Map portion 818 canillustrate the horizon of view of robot 200, which can correspond to acost map. As illustrated, trajectory 820 would pass through obstacle 822thereby potentially causing a collision and/or causing robot 200 to bestuck in front of obstacle 822. The closer robot 200 gets to obstacle822, the more limited the maneuvering of robot 200 can become. On theother hand, where robot 200 recognizes that it should travel aroundobstacle 822, robot 200 can then plan a more optimal path aroundobstacle 822, such as that illustrated as trajectory 824. This moreoptimal path as illustrated with trajectory 824 has robot 200 turningsooner.

In order to determine the shortest path, map portion 818 can bediscretized, such as by looking at a plurality of points. FIG. 8D is anoverhead diagram illustrating a discretized version of map portion 818,wherein each point is a discrete location in accordance withimplementations of this disclosure. For example, point 830A can be adiscretized point in map portion 818. In some implementations,non-navigable points can be included in the discretization, such aspoint 834, which can be within obstacle 822. In some implementations,non-navigable points may not be included. In some cases, eachdiscretized point can also be called a cell.

In order to determine the shortest path (e.g., in a shortest pathfield), a point can be selected. Any point can be used, however, in someimplementations, the point is a point along the horizon of robot 200,such as the substantially furthest point robot 200 can seeing goingforward along the path (e.g., furthest in distance and/or time).Advantageously, this can allow robot 200 to plan the path going forwardfor when it travels. Robot 200 can then find the shortest non-collidingpoint from each discretized point (such as the discretized pointsillustrated in FIG. 8D) to that selected point.

FIG. 8E is an overhead diagram showing the shortest non-colliding pathfrom a section of discretized points illustrated in FIG. 8D inaccordance to some implementations of this disclosure. For example, mapportion 818A can be an illustrative portion (e.g., for illustrativepurposes) of map portion 818. Point 830A can be selected point to whichthe shortest non-colliding path from the other points is calculated. Forexample, point 830B can be a discretized point and/or cell in mapportion 818A. The shortest non-colliding path (e.g., not colliding withan object in the environment shown in map portion 818) can be shown bypath 836B, which goes straight from point 830B to point 830A. As anotherexample, point 830C can be another point on the opposite side ofobstacle 822. Accordingly, the shortest non-colliding path between point830C and point 830A is the curve path illustrated by path 836C, whichgoes around obstacle 822.

In some cases, the relevant information from the shortest path field isthe vector (e.g., direction, orientation, pose, position, speed, etc.)of robot 200 at that point in order to travel the shortest path (e.g.,shortest non-colliding path) to the selected point. Accordingly, avector field can be generated showing the vector at each discretizedpoint. FIG. 8F is an overhead diagram showing vectors for shortest pathsassociated with discretized points illustrated in FIG. 8D in accordanceto some implementations of this disclosure. For example, point 830Bcorresponds to vector 838B, which gives the vector of robot 200 totravel the shortest path to point 830A.

In some implementations, the vectors for each discretized point can forma vector field associated with the shortest path. For ease of latercomputations, each vector can be of unit length in some cases. Thesevectors can be compared to the planned path portions and/or trajectoriesof robot 200, for example, the planned path portions included in matrix800. For example, robot 200 can determine a vector associated with eachplanned path portion and/or trajectory. The vector can reflect theorientation, speed, position, pose, etc. of robot 200 as it begins theplanned path portion and or trajectory. In some implementations, thisvector can be of unit length in order to ease computation. Accordingly,the vector of each planned path portion and/or trajectory can becompared to the vectors of the vector field associated with the shortestpath. In some cases, a comparison between the vectors can be made. Forexample, if the vectors differ in angle by at least predetermined angle,then the path portion and/or trajectory can be taken out ofconsideration. This predetermined angle can be determined based at leastin part on computational resources, environmental complexity,computational time, empirical considerations, and/or other factors. Itwas found that a predetermined angle of 90 degrees was effective atremoving from consideration path portions and/or trajectories that wouldnot be realistically traveled. In other cases, a penalty can be assignedto path portions and/or trajectories corresponding to vectors thatsubstantially differ from the angle of the trajectory associated withthe shortest path. Such a penalty can be realized in a recovery matrix,cost map, and/or matrix (e.g., matrix 800), such as through a costvalue, multiplier and/or additive. In some cases, the comparison can becomputed by examining the dot product between the vector of the shortestpath and the vector of the vector of a path portion and/or trajectorycalculated by robot 200. In this way, when a trajectory and/or pathportion has the appropriate direction that is substantially similar tothe direction of the shortest path, it will be reflected in the dotproduct. This dot product can be a dependency of the cost function suchthat the value of trajectories and/or path portions that have the sameinitial direction as the shortest path are favored.

As another example, recovery conditions can be determined. Such recoveryconditions can identify maneuvers for predetermined cases and/orsituations. In some cases, a recovery condition can be a maneuver thatrobot 200 performs in order to get out of a situation, as will bedescribed below through illustrative examples. In some cases, a recoverycondition can influence the decision-making of robot 200, impacting atleast in part a path or path portion that robot 200 uses.

By way of illustration, FIG. 9A is an overhead diagram of robot 200facing wall 906, thereby having limited forward mobility, in accordanceto some implementations of this disclosure. While wall 906 isillustrated, other obstacles/objects in the way of robot 200 can be usedin place of wall 906. As illustrated, robot 200 has a wall 906 proximalto front side 704A. From this position, forward trajectory 902 can causerobot 200 to go towards wall 906 and, possibly, collide with wall 906.Even where robot 200 does not collide with wall 906, the maneuverabilityof robot 200 as robot 200 gets closer to wall 906 becomes more limited,especially where the shape of robot 200 is non-circular, such astricycle and/or other shaped. Accordingly, a turning path, such as thepath defined at least in part on trajectory 904 can be desirable.

Based on the recovery conditions, certain trajectories can be removedfrom consideration and/or made more/less favorable. For example, in thediagram illustrated in FIG. 9A, trajectories that move robot 200 closerand/or into wall 906 can be taken out of matrix 800. As another example,trajectories that move robot 200 closer and/or into wall 906 can have acost penalty, changing the cost function calculation for the maskthereby making them less likely to be selected. As another example,trajectories that are favorable (e.g., in FIG. 9A, trajectory 904 and/orother trajectories) can have a favorable cost impact, changing the costfunction calculation for the mask thereby making them more likely to beselected. In some cases, robot 200 can select a predetermined maneuver,such as moving in a different direction (e.g., to a predetermined angleleft or right) in order to no longer face wall 906 and/or any otherobstacle.

In some cases, instead of modifying matrix 800, there can be another,recovery matrix. Advantageously, using an entirely other recovery matrixcan be faster than adjusting values of individual trajectories. In suchcases, the recovery matrix can be used instead of matrix 800 fordetermining the cost of trajectories. Accordingly, references in thisdisclosure described changing the cost function value, invoking a costpenalty, and/or a favorable cost impact can be relative to values in arecovery matrix. The use of a recovery matrix can be triggered byindicia relating to any of recovery condition, such as the examplerecovery conditions described herein. For example, when robot 200detects a wall in front of it, it can use a recovery matrix reflectiveof costs associated with the various trajectory options that robot 200can implement. As another example, the robot can determine that it isoff-path and trigger utilize a recovery matrix associated with thatoccurrence to determine how to recover. In some implementations, robot200 can utilize a recovery matrix once it has failed to determine a pathusing matrix 800. Accordingly, the recovery matrix can be an alternativeand/or additional calculation once other calculations have failed toidentify a trajectory for robot 200 to travel.

As another example of a recovery condition, in the situation where robot200 is limited in motion such as by being restricted by an obstacle(e.g., facing a wall such as wall 906), the recovery condition candetermine a rotation of robot 200 in order to move away from theobstacle. By way of illustration, robot 200 can compute a rotation ofrobot 200. FIG. 9B is a top view diagram of a computed rotation of afootprint of robot 200 in accordance with some implementations of thisdisclosure. Footprint 702A can be indicative at least in part of thefootprint of robot 200. For example, footprint 702A can be the footprintof robot 200 as it faces an obstacle (e.g., wall 906). Robot 200 cancompute a rotation of footprint 702A, such as the position of footprint702A rotated through a plurality of angles. Footprints 702B-702Hillustrate example footprint rotation angles. The angles to whichfootprint 702A are rotated can be determined based at least in part onavailable memory and/or processing resources, range of available motionof robot 200, position of obstacle detected, shape and/or size of thefootprint of robot 200, and/or other factors. In some implementations, arange of angles can be computed (e.g., determining at least in part thetotal area of rotation). This range can be predetermined, found on acase-by-case basis, and/or determined by trying all feasible rotations.The angles can be periodic and/or intermittent throughout the range ofrotation. In some implementations, footprints 702B-702H can be rotatedabout a common center point, such as a center (e.g., geometric center,center of mass, turning center, etc.) of robot 200, and/or any otherpoint.

Another example of a recovery condition can be for touching and/or closeobjects. For example, robot 200 can detect a pixel indicative of anobject that is close, such as within a predetermined distance threshold.Such a predetermined distance threshold can be determined based at leastin part on the stopping distance of robot 200, the speed of robot 200,potential damage of collision of robot 200 with the object, tolerancefor collisions, the amount of space required for maneuvering robot 200,and/or other factors. Robot 200 can also detect a pixel indicative of anobject within the footprint of robot 200. In those cases, it can bedesirable that robot 200 move away from the object. As another example,robot 200 can collide with the object, wherein one or more pixels of theobject protrude into the footprint of robot 200. In response todetecting a touching and/or close object, robot 200 can move in adirection away from the object, such as 180 degrees away from the object(e.g., reverse and/or turn around) or at an angle away from the objectdepending on the shape and/or maneuverability of robot 200 and/or thefootprint of robot 200. This movement away can allow robot 200 to clearfrom the object before determining a path. In some cases, robot 200 canadjust the costs associated with various routes relative to the object.For example, paths away from the object can be more cost favorable thanpaths that cause robot 200 to go in a direction of the object.

Another example of a recovery condition can occur when robot 200 getsstuck in a decision loop. By way of illustration, robot 200 can select apath to travel, however, an obstacle can impede it from following thatpath. Robot 200 can then select another path to travel, for example, byselecting a different mask to follow. However, the obstacle can thenmove and block the robot. Other scenarios of blocking can occur due tosensor noise and/or artifacts that can cause robot 200 to detectblockage. As another scenario, a substantially stationary obstacle canbe perceived to be moving because of a change, such as a rotation, thatcauses previously not visible parts of the obstacle to become visible.In some cases, cyclical decisions can occur where robot 200 repeatedlyattempts to travel along a first path, but is impeded, then tries totravel along a second path. Robot 200 can then get in a cycle betweenattempting to travel the first path and second path, whereby robot 200does not make any substantial progress to going to the navigational goaland/or finishing the operational task of robot 200.

In order to break such a cycle, a recovery condition can include acyclic decision breaker. In some implementations, robot 200 (e.g.,controller 204) can store (e.g., in memory 202) selected trajectories,paths/path portions, and/or control characteristics and look forrepeats. For example, there can be a cyclic decision threshold whereinif a trajectory, path/path portion, and/or control characteristic isrepeated greater than or equal to the cyclic decision threshold, thetrajectory, path/portion, and/or control characteristic will no longerbe considered and/or receive a cost penalty. The cyclic decisionthreshold can be the number of repeats over a predetermined time windowand/or associated with a location (and/or substantially similarlocations). In some implementations, the number of decisions of thecyclic decision threshold can be dependent at least in part on:environmental complexity; tolerance for indecision/standstill of robot200; availability of operator assistance; similarity of repeats; and/orother factors. In some cases, the occurrence of three repeat decisionswas found to be effective as a cyclic decision threshold.

As described, after the cyclic decision threshold has been met, robot200 can no longer consider such repeated decision. Advantageously, thiscan break the cycle and allow robot 200 to find another path that maynot lead to cyclic decision making.

In some implementations, in any of the aforementioned recoveryconditions and/or selections, each time a trajectory, path portion,and/or control characteristic is selected, a cost penalty can be addedto the cost map corresponding to the trajectory, path/path portion,and/or control characteristic selected. Alternatively, instead ofadjusting the cost map, the penalty can be added to the mask of thetrajectory, path/path portion, and/or control characteristic selected sothat when the cost of the mask is determined, the cost will make it lesslikely that the mask (and therefore the trajectory, path/path portion,and/or control characteristic included therein) will be selected. Aspreviously described, a separate recovery matrix can also be used.

In some implementations, recovery conditions and/or operating controlcharacteristics (e.g., during normal operation or otherwise) can bedetermined as part of a learning process. Such a learning process can beimplemented on robot 200 (e.g., using controller 204), network 302,access points 304A and/or 304B, and/or any other component of therobotic system. For example, the cost map can be adjusted, and/orrecovery procedures can be implemented, based at least in part on pastperformance and/or feedback robot 200 receives. In some cases, userfeedback can be stored in memory, such as in a library. The feedback cantake the form of one or more of (a) control input; (b) absence ofcorrection; (c) physical correction; (d) map correction; and (e)performance parameter. In some cases, learned cases can be integratedinto the decision-making process, such as a mask in matrix 800.

For example, a control input can be performed physically on the robot200 such as through manual operation. By way of illustration, a floorcleaner such as illustrated in FIGS. 7B and 7C, can be driven in manualoperation using the steering wheel and foot pedals in a waysubstantially similar to a cart. As another example, an operator can usea remote control to input commands. The operator can be onsite and/oroperating remotely, such as through one or more of network 302 and/oraccess point 304A or 304B. Accordingly, in problematic areas, anoperator can drive robot 200 in order to clear the area. A person havingordinary skill in the arts would recognize that there are analogousapplications in other robots. For example, an operator could drive atransportation robot in problematic area. As another example, anoperator could control a robotic arm to perform a task. Accordingly,robot 200 can associate the context (e.g., sensor data, location, pose,environmental factors, etc.) with the manual operation that the operatorperformed (e.g., controller commands, trajectories, and/or path portionsin the scenarios). In some cases, robot 200 can make it more likely thata trajectory, path/path portion, and/or control characteristic of thecontrol input will be selected in a subsequent encounter withsubstantially similar context. In some implementations, increasing thislikelihood can include changing cost map values to make the route morelikely to be selected. In some implementations, robot 200 canautomatically perform the demonstrated control input when the contextcomes up. Advantageously, systems and methods of this disclosure allowrobot 200 to continuously learn and improve path planning as it receivesmore information.

As another example, the absence of correction can further entrench thepath planning of robot 200. For example, each time robot 200 follows apath/path portion in a context and is not corrected, robot 200 can makeit more likely that it will travel that path if the context arisesagain. This can be accomplished by adjusting the cost map to favorpath/path portions substantially similar to what it performed.Advantageously, such behavior can allow robot 200 to continue havingbehaviors that are successful.

As another example, physical correction can be used to provide feedbackto robot 200. Physical correction can include an operator physicallytouching and/or positioning robot 200. By way of illustration, whererobot 200 is a robotic arm, an operator can adjust the robotic arm byturning one or more joints of the robotic arm and/or positioning the armin space. As another example, an operator can lift at least a portion ofrobot 200 and reposition that portion as desired. Accordingly, robot 200can observe the context in which the physical correction occurred. Insome cases, robot 200 can make it more likely that a trajectory,path/path portion, and/or control characteristic of the physicalcorrection will be selected in a subsequent encounter with substantiallysimilar context. In some implementations, increasing this likelihood caninclude changing cost map values to make the route more likely to beselected. In some implementations, robot 200 can automatically performthe demonstrated control input when the context comes up.Advantageously, systems and methods of this disclosure allow robot 200to adjust according to implicit fixes, such as when the user justphysically corrects it. This ability can enhance the user experience byallowing user feedback without the formality of control input.

As another example, a map correction can be inputted by a user/operator.For example, a user can adjust a path, change a cost map, move a route,expand a route, close a route, and/or put further restrictions (and/orexpansions) of portions of the environment to which robot 200 cantravel. A user can do so through user interface unit 218, network 302,and/or access points 304A and 304B. In some cases, robot 200 can make itmore likely that a trajectory, path/path portion, and/or controlcharacteristic incorporating the change of the map correction will beselected in a subsequent encounter with substantially similar context.In some implementations, increasing this likelihood can include changingcost map values to make the route more likely to be selected. In someimplementations, robot 200 can automatically perform the demonstratedcontrol input when the context comes up. Advantageously, systems andmethods of this disclosure can allow robot 200 to be corrected atdifferent points in time and from different places, such as by a remoteoperator reviewing map and/or performance data. This ability can allow amore seamless user experience as the robot can gain efficiency betweensubsequent runs.

By way of illustration, FIG. 9C-9E are user interfaces for correctingmaps in accordance to implementations of this disclosure. For example,FIG. 9C shows a user interface for selecting a map to correct inaccordance to some implementations of this disclosure. Device 920 can bea user interface, such as a user interface included in user interfaceunit 218 and/or access points 304A and 304B. By way of illustration,device 920 is illustrated as a mobile phone; however, other interfacesare contemplated, such as any of those described with reference to userinterface unit 218 and/or access points 304A and 304B. On device 920,there can be a plurality of cells displayed (e.g., cells 922A-922F), thecells showing maps that can be selected by a user. FIG. 9C only showssix cells, but there can be fewer or more cells displayed as desired. Asillustrated, some cells are empty (e.g., cells 922C-922F) and some cellshave maps (e.g., cells 922A and 922B). Cells 922A and 922B contain mapsthat have been run, indicating the high-level map of where robot 200 hadpreviously travelled in an environment.

After selecting a cell with a map, options can appear for editing themap. FIG. 9D illustrates various manipulations of a map that can beperformed by a user in accordance to implementations of this disclosure.For example, device 920 can display a map 932 with path portions 940. Auser can pick from a displayed menu including items. There can be anynumber of options that a user can select, relating to any manipulationof the map that a user can perform. For example, the interface can allowa user to edit a map, adjust a path, move a starting position (e.g.,home marker), delete path/path segment, add operations (e.g., cleaning,manipulating, actuating, etc.), and/or any other manipulation a usercould desire. For example, option 934A can allow a user to delete a pathsegment. For example, after selecting option 934A, a user can thenselect a portion of a path displayed in map 932 and/or path portions940. Robot 200 can then delete such selected path portion. As anotherexample, option 934B can allow a user to adjust a path. For example, auser can select a path portion included in map 932 and/or path portions940 and move/manipulate that path portion. As another example, option934C can allow a user to move a home marker (e.g., a starting position).For example, the starting position can be where robot 200 begins and/orends a robotic operation. For example, a robot can begin navigating aspace starting at a home marker and/or end when it comes back to thehome marker. Icon 936 can indicate where the home marker location is.FIG. 9E illustrates an operation of moving a home marker in accordanceto some implementations of this disclosure. For example, the home markercan be moved from location 936A to location 936B.

Advantageously, user correction can allow robot 200 to adjust directlybased on user feedback. Such feedback can aid robot 200 in path planningas the user's feedback can be indicative of the desired path for robot200. Accordingly, robot 200 can more favorably weigh paths that are inaccordance with the feedback.

As another example, a performance measure can be stored in memory 202.The performance measure can reflect, at least in part, how well robot200 performed. In some cases, the performance measure can be aparameter. The parameter can be a measure of how closely robot 200 meetsa target trajectory and/or path/path portion. A person having ordinaryskill in the art would appreciate that there can be any number of waysthis comparison can be measured numerically, such as percentages,differences, etc. In some cases, it is the relative value (e.g., betweenruns of a robot) of the parameter that can be reflective of how wellrobot 200 is performing. As another example, the parameter can measurehow many locations associated with the desirable pixels in the cost maprobot 200 traverses. Where robot 200 navigates (e.g., floor cleaner,transporter, and/or other navigating robots), the performance parametercan be indicative at least in part of the floor area (e.g., squaremeters, square footage, square inches) of which robot 200 travels. Asanother example, the parameter can measure the percentage out of theideal path (the most valuable in terms of the cost map) that robot 200achieves in the path/path portion selected. Based at least in part onthe performance measure, robot 200 can alter actions to improveperformance.

The performance characteristic can be attributed to a subset (e.g., achoice of robot 200 in one given instance and/or a plurality of choicesof robot 200). Accordingly, robot 200 can optimize behavior at aninstance and/or a plurality of instances, thereby further optimizingbehavior. Similarly, robot 200 can observe how it optimized behavior inone context and perform a substantially similar behavior in subsequentoccurrences of the context.

Returning to FIG. 4, block 412 can include determining actuator commandsfor the first path portions. The actuator commands can allow robot 200to travel along the path portion, such as in accordance to one or morecontrol characteristics. Moreover, in some implementations, the actuatorcommands can allow robot to perform an operational task, such as turninga brush, spraying water, moving objects (and/or people and animals),articulating, and/or any other function of robot 200.

Moreover, in some implementations, an actuator command function can beused. The actuator command function can take into account varioustransitory factors of robot 200, allowing for robot 200 to behaveappropriately. Indeed, where the transitory factors influence robot 200enough, the transitory factors can be taken into account in block 410.

For example, the physics of movements of robot 200 can alter when, forexample, robot 200 changes weight. By way of illustration, the weight ofrobot 200 can change when fluid levels change (e.g., water, cleaningsolution, fuel, etc.) and/or robot takes on/delivers cargo and/orpeople. Accordingly, when robot 200 changes weight, the physics of turnschange.

As another example, actuators relating to a robotic task of robot 200can impact the physics of the movement of robot 200. For example, whererobot 200 has a rotating brush (e.g., as a burnisher, scrubber, and/orother floor cleaner), the rotation of the brush can create moments onrobot 200, which can impact how robot 200 can turn and/or changedirections.

In some cases, the actuator commands can take the form of adjustingactuators in accordance to control characteristics identified for robot200 to travel along the first path portion. For example, robot 200 cangenerate an actuator command to effectuate the first controlcharacteristic of a string of control characteristics of the first pathportion (e.g., taking the control characteristic corresponding to thefirst arrow of trajectory 726, and/or any other trajectory, path, and/orpath portion). In some cases, this first control characteristic can bethe only control characteristic effectuated, wherein robot 200 thenreassesses the path (e.g., finds another first path portion inaccordance to method 400) after sending the actuator command comprisingthe first control characteristic. Advantageously, this can allow robot200 to reassess the path after each move, giving greater potential foroptimal path planning. In some cases, the first control characteristiccan be a model predictive control. By way of illustration, the firstcontrol characteristic can correspond to a first wheel angle, first armyposition, and/or any other control characteristic described in thisdisclosure.

However, in some cases, the actuator command(s) can include a pluralityof control characteristics. For example, the plurality of controlcharacteristics can relate at least in part to control characteristicsof the first path portion. By effectuating the control characteristics,robot 200 can travel at least a portion of the first path portion. Forexample, two, three, four, five, or more control characteristics can beused in relation to the actuator command(s). By way of illustration,such control characteristics can relate to two, three, four, five, ormore of the arrows of trajectory 626. Advantageously, using such aplurality can allow for smoother travelling and/or consumption of lesscomputational resources. The smoother travel can allow the robot to havea more natural appearance as it moves.

In some implementations, user interface 218 can include an externalstart button that, when engaged, causes robot 200 to perform one or moresteps of method 400. For example, the external start button can repeatat least blocks 404, 406, 408, 410, and 412, allowing for robot 200 toreassess a situation. Advantageously, errors, noise, and/or any otherissues in sensor data can cause robot 200 to mistakenly detect objectsand/or obstacles that are not there. The external button can triggerrobot 200 to reassess and/or clear problematic data, thereby runningroute planning again. In some cases, this can allow robot 200 toappropriately navigate a space that it had issues navigating.

FIG. 10 is a process flow diagram of an exemplary method 1000 for pathplanning in accordance with some implementations of this disclosure.Block 1002 includes Generating a cost map associated with an environmentof the robot, the cost map comprising a plurality of cost map pixelseach corresponding to a location in the environment and each cost mappixel having an associated cost. Block 1004 includes generating aplurality of masks having projected path portions for the travel of therobot within the environment, each mask comprising a plurality of maskpixels wherein each mask pixel corresponds to a location in theenvironment. Block 1006 includes determining if a recovery conditionapplies based at least in part on the position of the robot relative toone or more obstacles in the environment, and, if the recovery conditionapplies, modifying at least one of (1) the cost map and (2) one or moreof the plurality of masks. Block 1008 includes determining a mask costassociated with each mask based at least in part on the cost map. Block1010 includes selecting a first mask based at least in part on the maskcost of the first mask. Block 1012 includes determining actuatorcommands for the robot to travel the projected path portions included inthe first mask. Block 1014 includes actuating an actuator of the robotbased at least in part on the actuator commands.

FIG. 11 is a process flow diagram of an exemplary method 1100 for pathplanning in accordance with some implementations of this disclosure.Block 1102 includes generating a cost map associated with at least aportion of the generated map of the environment, the cost map comprisinga plurality of cost map pixels wherein each cost map pixel correspondsto a location in the environment and each cost map pixel has anassociated cost. Block 1104 includes generating a plurality of maskshaving projected path portions for the travel of the robot within theenvironment, each mask comprising a plurality of mask pixels whereineach mask pixel corresponds to a location in the environment. Block 1106includes determining if a recovery condition applies based at least inpart on the position of the robot relative to one or more obstacles inthe environment, and, if the recovery condition applies, modifying atleast one of (1) the cost map and (2) one or more of the plurality ofmasks. Block 1108 includes determining a mask cost associated with eachmask based at least in part on the cost map. Block 1110 includesselecting a first mask based at least in part on the mask cost of thefirst mask. Block 1112 includes actuating the one or more actuatorsbased at least in part on the first mask.

FIG. 12 is a process flow diagram of an exemplary method 1200 for pathplanning in accordance with some implementations of this disclosure.Block 1202 includes generating a cost map associated with an environmentof the robot, the cost map comprising a plurality of cost map pixelseach corresponding to a location in the environment and each cost mappixel having an associated cost based at least in part on a desire toclean the location. Block 1204 includes generating a plurality of maskshaving projected trajectories for the travel from the pose of the robotwithin the environment, each mask comprising a plurality of mask pixelswherein each mask pixel corresponds to a location in the environment forwhich the robot will clean should the robot select the mask. Block 1206includes determining a mask cost associated with each mask based atleast in part on the cost map. Block 1208 includes selecting a firstmask based at least in part on the mask cost of the first mask.

As used herein, computer and/or computing device can include, but arenot limited to, personal computers (“PCs”) and minicomputers, whetherdesktop, laptop, or otherwise, mainframe computers, workstations,servers, personal digital assistants (“PDAs”), handheld computers,embedded computers, programmable logic devices, personal communicators,tablet computers, mobile devices, portable navigation aids, J2MEequipped devices, cellular telephones, smart phones, personal integratedcommunication or entertainment devices, and/or any other device capableof executing a set of instructions and processing an incoming datasignal.

As used herein, computer program and/or software can include anysequence or human or machine cognizable steps which perform a function.Such computer program and/or software can be rendered in any programminglanguage or environment including, for example, C/C++, C#, Fortran,COBOL, MATLAB™, PASCAL, GO, RUST, SCALA, Python, assembly language,markup languages (e.g., HTML, SGML, XML, VoXML), and the like, as wellas object-oriented environments such as the Common Object Request BrokerArchitecture (“CORBA”), JAVA™ (including J2ME, Java Beans, etc.), BinaryRuntime Environment (e.g., “BREW”), and the like.

As used herein, connection, link, and/or wireless link can include acausal link between any two or more entities (whether physical orlogical/virtual), which enables information exchange between theentities.

It will be recognized that while certain aspects of the disclosure aredescribed in terms of a specific sequence of steps of a method, thesedescriptions are only illustrative of the broader methods of thedisclosure, and can be modified as required by the particularapplication. Certain steps can be rendered unnecessary or optional undercertain circumstances. Additionally, certain steps or functionality canbe added to the disclosed implementations, or the order of performanceof two or more steps permuted. All such variations are considered to beencompassed within the disclosure disclosed and claimed herein.

While the above detailed description has shown, described, and pointedout novel features of the disclosure as applied to variousimplementations, it will be understood that various omissions,substitutions, and changes in the form and details of the device orprocess illustrated can be made by those skilled in the art withoutdeparting from the disclosure. The foregoing description is of the bestmode presently contemplated of carrying out the disclosure. Thisdescription is in no way meant to be limiting, but rather should betaken as illustrative of the general principles of the disclosure. Thescope of the disclosure should be determined with reference to theclaims.

While the disclosure has been illustrated and described in detail in thedrawings and foregoing description, such illustration and descriptionare to be considered illustrative or exemplary and not restrictive. Thedisclosure is not limited to the disclosed embodiments. Variations tothe disclosed embodiments and/or implementations can be understood andeffected by those skilled in the art in practicing the claimeddisclosure, from a study of the drawings, the disclosure and theappended claims.

It should be noted that the use of particular terminology whendescribing certain features or aspects of the disclosure should not betaken to imply that the terminology is being re-defined herein to berestricted to include any specific characteristics of the features oraspects of the disclosure with which that terminology is associated.Terms and phrases used in this application, and variations thereof,especially in the appended claims, unless otherwise expressly stated,should be construed as open ended as opposed to limiting. As examples ofthe foregoing, the term “including” should be read to mean “including,without limitation,” “including but not limited to,” or the like; theterm “comprising” as used herein is synonymous with “including,”“containing,” or “characterized by,” and is inclusive or open-ended anddoes not exclude additional, unrecited elements or method steps; theterm “having” should be interpreted as “having at least;” the term “suchas” should be interpreted as “such as, without limitation;” the term‘includes” should be interpreted as “includes but is not limited to;”the term “example” is used to provide exemplary instances of the item indiscussion, not an exhaustive or limiting list thereof, and should beinterpreted as “example, but without limitation;” adjectives such as“known,” “normal,” “standard,” and terms of similar meaning should notbe construed as limiting the item described to a given time period or toan item available as of a given time, but instead should be read toencompass known, normal, or standard technologies that can be availableor known now or at any time in the future; and use of terms like“preferably,” “preferred,” “desired,” or “desirable,” and words ofsimilar meaning should not be understood as implying that certainfeatures are critical, essential, or even important to the structure orfunction of the present disclosure, but instead as merely intended tohighlight alternative or additional features that may or may not beutilized in a particular embodiment. Likewise, a group of items linkedwith the conjunction “and” should not be read as requiring that each andevery one of those items be present in the grouping, but rather shouldbe read as “and/or” unless expressly stated otherwise. Similarly, agroup of items linked with the conjunction “or” should not be read asrequiring mutual exclusivity among that group, but rather should be readas “and/or” unless expressly stated otherwise. The terms “about” or“approximate” and the like are synonymous and are used to indicate thatthe value modified by the term has an understood range associated withit, where the range can be ±20%, ±15%, ±10%, ±5%, or ±1%. The term“substantially” is used to indicate that a result (e.g., measurementvalue) is close to a targeted value, where close can mean, for example,the result is within 80% of the value, within 90% of the value, within95% of the value, or within 99% of the value. Also, as used herein“defined” or “determined” can include “predefined” or “predetermined”and/or otherwise determined values, conditions, thresholds,measurements, and the like.

What is claimed is:
 1. A method for path planning by a robot comprising:generating a cost map associated with an environment of the robot, thecost map comprising a plurality of cost map pixels, each cost map pixelof the plurality corresponding to a respective location in theenvironment and each cost map pixel of the plurality having anassociated cost; generating a plurality of masks, each mask of theplurality having projected path portions for travel of the robot withinthe environment, each mask of the plurality comprising a plurality ofmask pixels, wherein each mask pixel of the plurality corresponds to arespective location in the environment; determining if a recoverycondition applies based at least in part on a position of the robotrelative to one or more obstacles in the environment, and, if therecovery condition applies, modifying at least one of (1) the cost mapand/or (2) one or more of the plurality of masks; determining a maskcost associated with each mask of the plurality based at least in parton the generated cost map; selecting a first mask of the plurality ofmasks based at least in part on the determined mask cost of the firstmask; determining actuator commands for the robot to travel theprojected path portions included in the first mask; and actuating anactuator of the robot based at least in part on the determined actuatorcommands.
 2. The method of claim 1, wherein determining the mask costfurther comprises: forming at least one matrix comprising one or moremasks; and taking a dot product between the at least one matrix and thegenerated cost map.
 3. The method of claim 1, further comprisingrotating the cost map and each mask so that the cost map and each maskare orientated substantially similarly relative to the robot.
 4. Themethod of claim 3, wherein the rotating causes the generated cost mapand each mask of the plurality of the masks to be robot centric.
 5. Themethod of claim 1, further comprising generating a second cost mapcomprising a plurality of second cost map pixels, wherein each secondcost map pixel of the plurality corresponds to a respective location inthe environment and each second cost map pixel of the plurality includesa vector indicative at least in part of an orientation of the robot fora shortest path from a present location of the robot and the respectivelocation associated with each second cost map pixel.
 6. The method ofclaim 5, wherein determining the mask cost associated with each mask ofthe plurality of masks is further based at least in part on thegenerated second cost map.
 7. The method of claim 1, wherein therecovery condition includes determining a motion restriction on therobot based at least in part on a presence of an obstacle.
 8. The methodof claim 1, further comprising implementing a cost penalty each time thefirst mask is selected, wherein the implemented cost penalty makes itless likely that the first mask will be selected again.
 9. The method ofclaim 1, wherein a path portion of the projected path portions comprisesa trajectory of the robot over time.
 10. The method of claim 9, whereinthe path portion of the projected path portions comprises a cleaningpath of the robot.
 11. A robot comprising: one or more sensorsconfigured to generate sensor data about an environment of the robot;one or more actuators configured to propel travel of the robot; aprocessor apparatus configured to: generate a map of the environmentbased at least in part on the sensor data generated by the one or moresensors; generate a cost map associated with at least a portion of thegenerated map of the environment, the generated cost map comprising aplurality of cost map pixels wherein each cost map pixel of theplurality corresponds to a respective location in the environment andeach cost map pixel of the plurality has an associated cost; generate aplurality of masks, each mask of the plurality having projected pathportions for travel of the robot within the environment, each mask ofthe plurality comprising a plurality of mask pixels wherein each maskpixel of the plurality corresponds to a respective location in theenvironment; determine if a recovery condition applies based at least inpart on a position of the robot relative to one or more obstacles in theenvironment, and, if the recovery condition applies, modifying at leastone of (1) the cost map and/or (2) one or more of the plurality ofmasks; determine a mask cost associated with each mask of the pluralitybased at least in part on the generated cost map; select a first mask ofthe plurality of masks based at least in part on the mask cost of thefirst mask; and actuate the one or more actuators based at least in parton the first mask.
 12. The robot of claim 11 further comprising one ormore brush actuators that are configured to operate a cleaning brush ofthe robot.
 13. The robot of claim 12, wherein the processor apparatus isfurther configured to actuate the one or more brush actuators based atleast in part on the generated cost map.
 14. The robot of claim 11,wherein the processor apparatus is further configured to update the maskcost associated with at least one mask of the plurality based at leastin part on the robot encountering an obstacle in the environment. 15.The robot of claim 11, wherein the processor apparatus is furtherconfigured to implement a learning process that identifies one or morerecovery conditions.
 16. A method for path planning by a robot,comprising: generating a cost map associated with an environment of therobot, the cost map comprising a plurality of cost map pixels, each costmap pixel of the plurality corresponding to a respective location in theenvironment and each cost map pixel of the plurality having anassociated cost based at least in part on a desire to clean therespective location; generating a plurality of masks having projectedtrajectories for travel from a pose of the robot within the environment,each mask of the plurality comprising a plurality of mask pixels,wherein each mask pixel of the plurality corresponds to a respectivelocation in the environment for which the robot will clean should therobot select the mask; determining a mask cost associated with each maskbased at least in part on the generated cost map; and selecting a firstmask of the plurality of masks based at least in part on the mask costof the first mask.
 17. The method of claim 16, further comprisingactuating one or more actuators of the robot to clean a first projectedtrajectory included in the first mask.
 18. The method of claim 16,further comprising adjusting the generated cost map in response to userfeedback.
 19. The method of claim 16, wherein generating the pluralityof masks further comprises: receiving a footprint of the robot; andgenerating the plurality of masks based at least in part on an avoidanceof collisions between obstacles in the environment and the receivedfootprint of the robot.
 20. The method of claim 16, wherein generatingthe plurality of masks further comprises: receiving one or more physicalattributes of the robot, the one or more physical attributes restrictingan ability of the robot to maneuver; and generating the plurality ofmasks based at least in part on the received one or more physicalattributes.